This paper aims to propose a new multi-layered optimal navigation system that jointly optimizes the energy consumption, improves the robustness and raises the performance of a quadrotor unmanned aerial vehicle (UAV).

    Design/methodology/approach

    The proposed system is designed as a multi-layered system. First, the control architecture layer links the input and the output spaces via quaternion-based differential flatness equations. Then, the trajectory generation layer determines the optimal reference path and avoids obstacles to secure the UAV from collisions. Finally, the control layer allows the quadrotor to track the generated path and guarantees the stability using a double loop non-linear optimal backstepping controller (OBS).

    Findings

    All the obtained results are confirmed using several scenarios in different situations to prove the accuracy, energy optimization and the robustness of the designed system.

    Practical implications

    The proposed controllers are easily implementable on-board and are computationally efficient.

    Originality/value

    The originality of this research is the design of a multi-layered optimal navigation system for quadrotor UAV. The proposed control architecture presents a direct relation between the states and their derivatives, which then simplifies the trajectory generation problem. Furthermore, the derived differentially flat equations allow optimization to occur within the output space as opposed to the control space. This is beneficial because constraints such as obstacle avoidance occur in the output space; hence, the computation time for constraint handling is reduced. For the OBS, the novelty is that all controller parameters are derived using the multi-objective genetic algorithm (MO-GA) that optimizes all the quadrotor state’s cost functions jointly.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Multi-layered optimal navigation system for quadrotor UAV


    Contributors:

    Published in:

    Publication date :

    2019-10-25


    Size :

    1 pages




    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    English




    Optimal autonomous quadrotor navigation in an obstructed space

    Giulietti, Fabrizio / Pipeleers, Goele / Rossetti, Gianluca et al. | IEEE | 2017


    An Autonomous Visual-Inertial-Based Navigation System for Quadrotor

    Zhao, Sansan / Li, Rui / Shi, Yingjing et al. | Springer Verlag | 2020


    Outdoor waypoint navigation with the AR.Drone quadrotor

    Santana, Lucas Vago / Brandao, Alexandre Santos / Sarcinelli-Filho, Mario | IEEE | 2015


    Simulated Evaluation of Navigation System for Multi-quadrotor Coordination in Search and Rescue

    Rafikh, Rayyan Muhammad / D’Souza, Jeane Marina | Springer Verlag | 2023


    Obstacle Avoidance-Based Autonomous Navigation of a Quadrotor System

    Mohammed A. Alanezi / Zaharuddeen Haruna / Yusuf A. Sha’aban et al. | DOAJ | 2022

    Free access