Safe navigation of quadrotors with jerk limited trajectory
Publication in refereed journal


摘要Many aerial applications require unmanned aerial systems operate in safe zones because of the presence of obstacles or security regulations. It is a non-trivial task to generate a smooth trajectory satisfying both dynamic constraints and motion limits of the unmanned vehicles while being inside the safe zones. Then the task becomes even more challenging for real-time applications, for which computational efficiency is crucial. In this study, we present a safe flying corridor navigation method, which combines jerk limited trajectories with an efficient testing method to update the position setpoints in real time. Trajectories are generated online and incrementally with a cycle time smaller than 10 s, which is exceptionally suitable for vehicles with limited onboard computational capability. Safe zones are represented with multiple interconnected bounding boxes which can be arbitrarily oriented. The jerk limited trajectory generation algorithm has been extended to cover the cases with asymmetrical motion limits. The proposed method has been successfully tested and verified in flight simulations and actual experiments.
著者S. Lai, M. Lan, Y. Li, B. M. Chen
期刊名稱Frontiers of Information Technology & Electronic Engineering
出版社Zhejiang University and Springer
頁次107 - 119
關鍵詞Quadrotor, Unmanned aerial vehicle, Motion planning

上次更新時間 2021-29-07 於 00:05