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Aerospace 2015, 2(2), 155-170; doi:10.3390/aerospace2020155

Path Planning Using Concatenated Analytically-Defined Trajectories for Quadrotor UAVs

Mechanical and Aerospace Engineering, University of Strathclyde, 75 Montrose Street, Glasgow G1 lXJ, UK
This paper is an extended version of our paper published in ECC 15, Linz, Austria.
Author to whom correspondence should be addressed.
Academic Editor: Konstantinos Kontis
Received: 23 February 2015 / Revised: 26 March 2015 / Accepted: 16 April 2015 / Published: 21 April 2015
(This article belongs to the Special Issue Unmanned Aerial Systems 2015)
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This 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
Keywords: UAV; trajectory planning; quadrotor; obstacle avoidance; sub-Riemannian curves UAV; trajectory planning; quadrotor; obstacle avoidance; sub-Riemannian curves

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This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited. (CC BY 4.0).

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Jamieson, J.; Biggs, J. Path Planning Using Concatenated Analytically-Defined Trajectories for Quadrotor UAVs. Aerospace 2015, 2, 155-170.

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