Real-Time Optimal Trajectory Correction (ROTC) for Autonomous Quadrotor

Abstract

This research proposes a new algorithm known as Real-Time Optimal Trajectory Correction. The algorithm works if the quadrotor undergoes a deviation, an admissible trajectory path is generated for the quadrotor rapidly return on the straight-line route. There are two stages implicated in the algorithm. The first stage comprises a deviation scheme used to sense a deviation and formulates a vector. The second stage focuses on using the vector to generate a path via a Hermite interpolation technique integrated with time and tangent transformation schemes. A Dead Reckoning navigation technique is employed to steer the quadrotor on the path. The scheme and algorithm have experimented in low, moderate and high categories of deviation acceleration via a customized quadrotor. Comparative performance of quadrotor navigation integrated with and without the algorithm are carried out. The parameters evaluated are focused on distance and time utilized by the quadrotor to return on the route after a deviation happened. The results signify fewer distances and time are consumed by the quadrotor navigation with the algorithm to return to the route after a deviation happened as compared to its navigation without it. Conclusively, the results show the designed algorithm is relevant to assist the quadrotor autonomous navigation in a windy environment.