DocumentCode :
2616821
Title :
Trajectory planning for a quadrotor helicopter
Author :
Bouktir, Y. ; Haddad, M. ; Chettibi, T.
Author_Institution :
Lab. of Struct. Mech., Algiers
fYear :
2008
fDate :
25-27 June 2008
Firstpage :
1258
Lastpage :
1263
Abstract :
A simple direct method able to generate time-optimal trajectories for a micro quadrotor helicopter is presented. It is based on modeling the quadrotor trajectory as a composition of a parametric function P(lambda) defining the quadrotor path, and a monotonically increasing function lambda(t), specifying the motion on this path. The optimal evolutions of P(lambda) and lambda(t), which are approximated using B-spline functions, are found using a nonlinear optimization technique. The proposed method accounts for the most important constraints inherent to the system behavior, such as underactuation, obstacles avoidance and limits on actuator torques and speeds.
Keywords :
aerospace control; collision avoidance; helicopters; nonlinear programming; splines (mathematics); B-spline function; actuator speed; actuator torque; microquadrotor helicopter; nonlinear optimization; obstacles avoidance; optimal evolution; parametric function; quadrotor trajectory; time-optimal trajectories; trajectory planning; unmanned air vehicles; Helicopters; Linear feedback control systems; Motion control; Nonlinear dynamical systems; Predictive models; Robots; Sliding mode control; Trajectory; Unmanned aerial vehicles; Vehicle dynamics; dynamics; nonlinear optimization; quadrotor; trajectory;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Control and Automation, 2008 16th Mediterranean Conference on
Conference_Location :
Ajaccio
Print_ISBN :
978-1-4244-2504-4
Electronic_ISBN :
978-1-4244-2505-1
Type :
conf
DOI :
10.1109/MED.2008.4602025
Filename :
4602025
Link To Document :
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