Path Planning Using Concatenated Analytically-Defined Trajectories for Quadrotor UAVs†
AbstractThis paper presents a semi-analytical trajectory planning method for quadrotor UAVs. These trajectories are analytically defined, are constant in speed and sub-optimal with respect to a weighted quadratic cost function of the translational and angular velocities. A technique for concatenating the trajectories into multi-segment paths is demonstrated. These paths are smooth to the first derivative of the translational position and pass through defined waypoints. A method for detecting potential collisions by discretizing the path into a coarse mesh before using a numerical optimiser to determine the point of the path closest to the obstacle is presented. This hybrid method reduces the computation time when compared to discretizing the trajectory into a fine mesh and calculating the minimum distance. A tracking controller is defined and used to show that the paths are dynamically feasible and the typical magnitudes of the controller inputs required to fly them. View Full-Text
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Jamieson, J.; Biggs, J. Path Planning Using Concatenated Analytically-Defined Trajectories for Quadrotor UAVs. Aerospace 2015, 2, 155-170.
Jamieson J, Biggs J. Path Planning Using Concatenated Analytically-Defined Trajectories for Quadrotor UAVs. Aerospace. 2015; 2(2):155-170.Chicago/Turabian Style
Jamieson, Jonathan; Biggs, James. 2015. "Path Planning Using Concatenated Analytically-Defined Trajectories for Quadrotor UAVs." Aerospace 2, no. 2: 155-170.