Safe navigation of quadrotors with jerk limited trajectory
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AbstractMany 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.
Acceptance Date04/01/2019
All Author(s) ListS. Lai, M. Lan, Y. Li, B. M. Chen
Journal nameFrontiers of Information Technology & Electronic Engineering
Year2019
Month1
Volume Number20
Issue Number1
PublisherZhejiang University and Springer
Place of PublicationChina
Pages107 - 119
LanguagesEnglish-United States
KeywordsQuadrotor, Unmanned aerial vehicle, Motion planning

Last updated on 2021-04-05 at 00:36