This paper proposes a jerk-limited trajectory generation algorithm using a discrete implementation of the Zeroing Control Barrier Function method. This method achieves greater computational efficiency than previous works as it requires only a single pass in the forward simulation of the triple integrator and does not require a bisection search. A time-optimal trajectory can be generated from any arbitrary initial state with asymmetric constraints on velocity, acceleration and jerk for a target position with any final velocity and zero final acceleration. In addition, we demonstrate a one step ahead trajectory controller combined with an Extended State Observer in simulation of a hexacopter model.


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    Titel :

    Efficient Online Jerk-limited Trajectory Generation for Multicopters Using Barrier Functions


    Beteiligte:
    Zaini, Abdul Hanif (Autor:in) / Cao, Kun (Autor:in) / Xie, Lihua (Autor:in)


    Erscheinungsdatum :

    15.06.2021


    Format / Umfang :

    2182752 byte





    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



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