This paper aims to propose an online local trajectory planner for safe and fast trajectory generation that combines the jerk-limited trajectory (JLT) generation algorithm and the particle swarm optimization (PSO) algorithm. A trajectory switching algorithm is proposed to improve the trajectory tracking performance. The proposed system generates smooth and safe flight trajectories online for quadrotors.

    Design/methodology/approach

    First, the PSO algorithm method can obtain the optimal set of target points near the path points obtained by the global path searching. The JLT generation algorithm generates multiple trajectories from the current position to the target points that conform to the kinetic constraints. Then, the generated multiple trajectories are evaluated to pick the obstacle-free trajectory with the least cost. A trajectory switching strategy is proposed to switch the unmanned aerial vehicle (UAV) to a new trajectory before the UAV reaches the last hovering state of the current trajectory, so that the UAV can fly smoothly and quickly.

    Findings

    The feasibility of the designed system is validated through online flight experiments in indoor environments with obstacles.

    Practical implications

    The proposed trajectory planning system is integrated into a quadrotor platform. It is easily implementable onboard and computationally efficient.

    Originality/value

    The proposed local planner for trajectory generation and evaluation combines PSO and JLT generation algorithms. The proposed method can provide a collision-free and continuous trajectory, significantly reducing the required computing resources. The PSO algorithm locally searches for feasible target points near the global waypoint obtained by the global path search. The JLT generation algorithm generates trajectories from the current state toward each point contained by the target point set. The proposed trajectory switching strategy can avoid unnecessary hovering states in flight and ensure a continuous and safe flight trajectory. It is especially suitable for micro quadrotors with a small payload and limited onboard computing power.


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    Title :

    An online reliable local trajectory planner for quadrotors


    Contributors:
    Tong, Chunming (author) / Liu, Zhenbao (author) / Zhao, Wen (author) / Wang, Baodong (author) / Cheng, Yao (author) / Wang, Jingyan (author)

    Published in:

    Publication date :

    2023-03-27


    Size :

    11 pages




    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    English




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