Real-time Planning of Minimum-time Trajectories for Agile UAV Flight
The result's identifiers
Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F24%3A00377225" target="_blank" >RIV/68407700:21230/24:00377225 - isvavai.cz</a>
Result on the web
<a href="https://doi.org/10.1109/LRA.2024.3471388" target="_blank" >https://doi.org/10.1109/LRA.2024.3471388</a>
DOI - Digital Object Identifier
<a href="http://dx.doi.org/10.1109/LRA.2024.3471388" target="_blank" >10.1109/LRA.2024.3471388</a>
Alternative languages
Result language
angličtina
Original language name
Real-time Planning of Minimum-time Trajectories for Agile UAV Flight
Original language description
We address the challenge of real-time planning of minimum-time trajectories over multiple waypoints, onboard multirotor UAVs. Previous works demonstrated that achieving a truly time-optimal trajectory is computationally too demanding to enable frequent replanning during agile flight, especially on less powerful flight computers. Our approach overcomes this stumbling block by utilizing a point-mass model with a novel iterative thrust decomposition algorithm, enabling the UAV to use all of its collective thrust, something previous point-mass approaches could not achieve. The approach enables gravity and drag modeling integration, significantly reducing tracking errors in high-speed trajectories, which is proven through an ablation study. When combined with a new multi-waypoint optimization algorithm, which uses a gradient-based method to converge to optimal velocities in waypoints, the proposed method generates minimum-time multi-waypoint trajectories within milliseconds. The proposed approach, which we provide as open-source package, is validated both in simulation and in real-world, using Nonlinear Model Predictive Control. With accelerations of up to 3.5g and speeds over 100 km/h, trajectories generated by the proposed method yield similar or even smaller tracking errors than the trajectories generated for a full multirotor model.
Czech name
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Czech description
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Classification
Type
J<sub>imp</sub> - Article in a specialist periodical, which is included in the Web of Science database
CEP classification
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OECD FORD branch
20204 - Robotics and automatic control
Result continuities
Project
Result was created during the realization of more than one project. More information in the Projects tab.
Continuities
P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)
Others
Publication year
2024
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů
Data specific for result type
Name of the periodical
IEEE Robotics and Automation Letters
ISSN
2377-3766
e-ISSN
2377-3766
Volume of the periodical
9
Issue of the periodical within the volume
11
Country of publishing house
US - UNITED STATES
Number of pages
8
Pages from-to
10351-10358
UT code for WoS article
001336242500011
EID of the result in the Scopus database
2-s2.0-85205927015