This paper addresses the trajectory optimization problem of quadrotor landing on a moving platform. Various state and control constraints are imposed, and a combined optimization objective of minimum-energy and minimum-time is considered. The contribution of the paper is to convert the original nonconvex optimal control problem into a second-order cone programming (SOCP) mainly utilizing the change of variables, equivalent transformation, and linearization. And the SOCP problem can be solved by the interior point method quickly. Then, a successive solution algorithm is proposed, which is found to be able to converge quickly. Especially, the algorithm is guaranteed to converge when the moving platform has a constant velocity vector. Numerical examples have been provided to show the efficiency and effectiveness of the proposed algorithm for quadrotor landing on moving platforms.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Fast Trajectory Optimization for Quadrotor Landing on a Moving Platform


    Contributors:
    Zhang, Guoxu (author) / Kuang, Hailiang (author) / Liu, Xinfu (author)


    Publication date :

    2020-09-01


    Size :

    1079808 byte





    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



    Autonomous Landing of a Quadrotor on a Moving Platform

    Ghommam, Jawhar / Saad, Maarouf | IEEE | 2017


    Quadrotor landing on an inclined platform of a moving ground vehicle

    Vlantis, Panagiotis / Marantos, Panos / Bechlioulis, Charalampos P. et al. | IEEE | 2015


    Autonomous landing of a quadrotor on a moving platform using motion capture system

    Qassab, Ayman / Khan, Muhammad Umer / Irfanoglu, Bulent | Springer Verlag | 2024

    Free access

    Design, trajectory generation and control of quadrotor research platform

    Salunkhe, Durgesh Haribhau / Sharma, Siddhant / Topno, Sujal Amrit et al. | IEEE | 2016


    Guiding Quadrotor Landing with Pointing Gestures

    Gromov, Boris / Gambardella, Luca / Giusti, Alessandro | Springer Verlag | 2020