Path planning using concatenated analytically-defined trajectories for quadrotor UAVs

Jamieson, Jonathan and Biggs, James (2015) Path planning using concatenated analytically-defined trajectories for quadrotor UAVs. Aerospace, 2 (2). pp. 155-170. ISSN 2052-451X

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Abstract

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.

ORCID iDs

Jamieson, Jonathan ORCID: https://orcid.org/0000-0001-5783-0185

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  Item type:	Article
  ID code:	52813
  Dates:	Date Event 21 April 2015 Published 16 April 2015 Published Online 16 April 2015 Accepted
  Keywords:	UAV, trajectory planning, quadrotor, obstacle avoidance, sub-Riemannian curves, Mechanical engineering and machinery, Motor vehicles. Aeronautics. Astronautics, Mechanical Engineering, Aerospace Engineering, Control and Systems Engineering
  Subjects:	Technology > Mechanical engineering and machinery Technology > Motor vehicles. Aeronautics. Astronautics
  Department:	Faculty of Engineering > Mechanical and Aerospace Engineering Technology and Innovation Centre > Advanced Engineering and Manufacturing
  Depositing user:	Pure Administrator
  Date deposited:	23 Apr 2015 14:22
  Last modified:	23 Sep 2021 05:02
  Related URLs:	Journal or Publication
  URI:	https://strathprints.strath.ac.uk/id/eprint/52813