Near minimum-time trajectories for quadrotor UAVs in complex environments
- Resource Type
- Conference
- Authors
- Jamieson, Jonathan; Biggs, James
- Source
- 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) Intelligent Robots and Systems (IROS), 2016 IEEE/RSJ International Conference on. :1550-1555 Oct, 2016
- Subject
- Robotics and Control Systems
Trajectory
Time-domain analysis
Planning
Optimization
Acceleration
Boundary conditions
Aerodynamics
- Language
- ISSN
- 2153-0866
This paper presents a heuristic framework that generates trajectories for quadrotor UAVs in complex environments that smoothly follow a series of waypoints with desired boundary states on the derivatives. The waypoints can be chosen manually or found using a sampling-based path planner such as RRT for complex environments with obstacles. A trajectory in the virtual domain is found using polynomials parametrised by an abstract argument that are numerically optimised to give the shortest geometrical path length. A mapping function is used to ensure the kinodynamic limits on the velocity and acceleration throughout the trajectory are satisfied. The mapping function is found heuristically with an algorithm that minimises the trajectory time.