期刊
IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY
卷 26, 期 4, 页码 1335-1344出版社
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TCST.2017.2709268
关键词
Aerial vehicles; minimum-time; nonlinear optimal control; trajectory optimization
资金
- European Research Council through the European Union's Horizon 2020 Research and Innovation Programme [638992-OPT4SMART]
In this paper, we present a novel strategy to compute minimum-time trajectories for quadrotors in constrained environments. In particular, we consider the motion in a given flying region with obstacles and take into account the physical limitations of the vehicle. Instead of approaching the optimization problem in its standard time-parameterized formulation, the proposed strategy is based on an appealing reformulation. Transverse coordinates, expressing the distance from a frame path, are used to parameterize the vehicle position and a spatial parameter is used as independent variable. This reformulation allows us to: 1) obtain a fixed horizon problem and 2) easily formulate (fairly complex) position constraints. The effectiveness of the proposed strategy is proven by numerical computations on two different illustrative scenarios. Moreover, the optimal trajectory generated in the second scenario is experimentally executed with a real nanoquadrotor in order to show its feasibility.
作者
我是这篇论文的作者
点击您的名字以认领此论文并将其添加到您的个人资料中。
推荐
暂无数据