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Path Planning Using Concatenated Analytically-Defined Trajectories for Quadrotor UAVs

Mechanical and Aerospace Engineering, University of Strathclyde, 75 Montrose Street, Glasgow G1 lXJ, UK
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This paper is an extended version of our paper published in ECC 15, Linz, Austria.
Academic Editor: Konstantinos Kontis
Aerospace 2015, 2(2), 155-170; https://doi.org/10.3390/aerospace2020155
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)
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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Jamieson, J.; Biggs, J. Path Planning Using Concatenated Analytically-Defined Trajectories for Quadrotor UAVs. Aerospace 2015, 2, 155-170.

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