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.


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    Title :

    Efficient Online Jerk-limited Trajectory Generation for Multicopters Using Barrier Functions


    Contributors:
    Zaini, Abdul Hanif (author) / Cao, Kun (author) / Xie, Lihua (author)


    Publication date :

    2021-06-15


    Size :

    2182752 byte





    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



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