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.


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    Title :

    Minimum-Time Trajectory Generation for Quadrotors in Constrained Environments



    Publication date :

    2018-01-01



    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    English



    Classification :

    DDC:    629



    Actuator Constrained Trajectory Generation and Control for Variable-Pitch Quadrotors

    Cutler, M. / How, J. / American Institute of Aeronautics and Astronautics | British Library Conference Proceedings | 2012



    Actuator Constrained Trajectory Generation and Control for Variable-Pitch Quadrotors

    Cutler, Mark Johnson / How, Jonathan P. | DSpace@MIT | 2012

    Free access