Rapid trajectory generation for quadrotor with limited motor speed

Shikai Shao, Yi Guo, Yuanjie Zhao
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Abstract

Planning a safe and dynamic flyable trajectory for unmanned aerial vehicle (UAV) is the precondition for autonomous flight. Considering environmental complexity and flight safety under limited motor speed, we proposed a new time-segmented trajectory planning method, which can ensure motor speed within the allowable range and achieve safe flight. Firstly, the candidate trajectory for quadrotor UAV is expressed by high-order polynomials. Herein, polynomial is used as the expression of trajectory, and nonlinear programming (NLP) is used to calculate polynomial coefficient. Then, two strategies and an initial value calculation method are proposed to improve the efficiency of NLP. Furthermore, aiming at the problem that the initial trajectory of UAV motor cannot meet the current speed limit constraint after the motor speed drops, an adjustment strategy based on feasible trajectory is designed. The method presented in this paper not only enhances flexibility of the flight process, improves solving efficiency of the algorithm but also enables UAV to continue flying when the motor speed is limited. Finally, simulation analysis and comparison illustrate the effectiveness and superiority of the proposed method.
为电机速度受限的四旋翼飞行器快速生成轨迹
为无人飞行器(UAV)规划安全、动态的可飞轨迹是实现自主飞行的前提。考虑到环境的复杂性和有限电机转速下的飞行安全性,我们提出了一种新的分时轨迹规划方法,该方法可确保电机转速在允许范围内,实现安全飞行。首先,四旋翼无人机的候选轨迹由高阶多项式表示。在这里,多项式被用作轨迹的表达式,非线性编程(NLP)被用来计算多项式系数。然后,提出了两种策略和一种初始值计算方法,以提高 NLP 的效率。此外,针对电机转速下降后无人机电机初始轨迹无法满足当前限速约束的问题,设计了基于可行轨迹的调整策略。本文提出的方法不仅增强了飞行过程的灵活性,提高了算法的求解效率,还能使无人机在电机转速受限时继续飞行。最后,仿真分析和比较说明了所提方法的有效性和优越性。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
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