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.
Creators(s): |
Jamieson, Jonathan ![]() | Item type: | Article |
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ID code: | 52813 |
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 Jan 2021 03:10 |
Related URLs: | |
URI: | https://strathprints.strath.ac.uk/id/eprint/52813 |
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