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.
Efficient Online Jerk-limited Trajectory Generation for Multicopters Using Barrier Functions
2021-06-15
2182752 byte
Conference paper
Electronic Resource
English
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