Trajectory Planning of Quadrotor Systems for Various Objective Functions

Kód výsledku v IS VaVaI

<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F21%3A00348531" target="_blank" >RIV/68407700:21230/21:00348531 - isvavai.cz</a>

Výsledek na webu

<a href="https://doi.org/10.1017/S0263574720000247" target="_blank" >https://doi.org/10.1017/S0263574720000247</a>

DOI - Digital Object Identifier

<a href="http://dx.doi.org/10.1017/S0263574720000247" target="_blank" >10.1017/S0263574720000247</a>

Jazyk výsledku

angličtina

Název v původním jazyce

Trajectory Planning of Quadrotor Systems for Various Objective Functions

Popis výsledku v původním jazyce

Quadrotors are unmanned aerial vehicles with many potential applications ranging from mapping to supporting rescue operations. A key feature required for the use of these vehicles under complex conditions is a technique to analytically solve the problem of trajectory planning. Hence, this paper presents a heuristic approach for optimal path planning that the optimization strategy is based on the indirect solution of the open-loop optimal control problem. Firstly, an adequate dynamic system modeling is considered with respect to a configuration of a commercial quadrotor helicopter. The model predicts the effect of the thrust and torques induced by the four propellers on the quadrotor motion. Quadcopter dynamics is described by differential equations that have been derived by using the Newton–Euler method. Then, a path planning algorithm is developed to find the optimal trajec- tories that meet various objective functions, such as fuel efficiency, and guarantee the flight stability and high-speed operation. Typically, the necessary condition of optimality for a constrained opti- mal control problem is formulated as a standard form of a two-point boundary-value problem using Pontryagin’s minimum principle. One advantage of the proposed method can solve a wide range of optimal maneuvers for arbitrary initial and final states relevant to every considered cost function. In order to verify the effectiveness of the presented algorithm, several simulation and experiment stud- ies are carried out for finding the optimal path between two points with different objective functions by using MATLAB software. The results clearly show the effect of the proposed approach on the quadrotor systems.

Název v anglickém jazyce

Trajectory Planning of Quadrotor Systems for Various Objective Functions

Popis výsledku anglicky

Quadrotors are unmanned aerial vehicles with many potential applications ranging from mapping to supporting rescue operations. A key feature required for the use of these vehicles under complex conditions is a technique to analytically solve the problem of trajectory planning. Hence, this paper presents a heuristic approach for optimal path planning that the optimization strategy is based on the indirect solution of the open-loop optimal control problem. Firstly, an adequate dynamic system modeling is considered with respect to a configuration of a commercial quadrotor helicopter. The model predicts the effect of the thrust and torques induced by the four propellers on the quadrotor motion. Quadcopter dynamics is described by differential equations that have been derived by using the Newton–Euler method. Then, a path planning algorithm is developed to find the optimal trajec- tories that meet various objective functions, such as fuel efficiency, and guarantee the flight stability and high-speed operation. Typically, the necessary condition of optimality for a constrained opti- mal control problem is formulated as a standard form of a two-point boundary-value problem using Pontryagin’s minimum principle. One advantage of the proposed method can solve a wide range of optimal maneuvers for arbitrary initial and final states relevant to every considered cost function. In order to verify the effectiveness of the presented algorithm, several simulation and experiment stud- ies are carried out for finding the optimal path between two points with different objective functions by using MATLAB software. The results clearly show the effect of the proposed approach on the quadrotor systems.

Druh

J_imp - Článek v periodiku v databázi Web of Science

CEP obor

—

OECD FORD obor

10201 - Computer sciences, information science, bioinformathics (hardware development to be 2.2, social aspect to be 5.8)

Projekt

<a href="/cs/project/GJ17-16900Y" target="_blank" >GJ17-16900Y: Stabilizace a řízení týmů vzájemně lokalizovaných autonomních helikoptér letících oblastmi s velkým výskytem překážek</a><br>

Návaznosti

P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)

Rok uplatnění

2021

Kód důvěrnosti údajů

S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Název periodika

Robotica

ISSN

0263-5747

e-ISSN

1469-8668

Svazek periodika

39

Číslo periodika v rámci svazku

1

Stát vydavatele periodika

GB - Spojené království Velké Británie a Severního Irska

Počet stran výsledku

16

Strana od-do

137-152

Kód UT WoS článku

000601240200010

EID výsledku v databázi Scopus

2-s2.0-85085742502