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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.

Item type: Article
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: 26 Jan 2019 23:35
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URI: https://strathprints.strath.ac.uk/id/eprint/52813
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