Safe navigation of quadrotors with jerk limited trajectory

作     者：Shu-peng LAI Meng-lu LAN Ya-xuan LI Ben M.CHEN 

作者机构：Department of Electrical and Computer Engineering National University of Singapore Graduate School for Integrative Science & Engineering National University of Singapore School of Control Science and Engineering Shandong University Department of Mechanical and Automation Engineering Chinese University of Hong Kong 

出 版 物：《Frontiers of Information Technology & Electronic Engineering》 (信息与电子工程前沿（英文版）)

年 卷 期：2019年第20卷第1期

页      面：107-119页

核心收录：

学科分类：0810[工学-信息与通信工程] 0808[工学-电气工程] 0809[工学-电子科学与技术（可授工学、理学学位）] 08[工学] 0839[工学-网络空间安全] 081105[工学-导航、制导与控制] 082503[工学-航空宇航制造工程] 0835[工学-软件工程] 0825[工学-航空宇航科学与技术] 0811[工学-控制科学与工程] 0812[工学-计算机科学与技术（可授工学、理学学位）] 

主　　题：Quadrotor Unmanned aerial vehicle Motion planning 

摘      要：Many aerial applications require unmanned aerial systems operate in safe zones because of the presence of obstacles or security regulations. It is a non-trivial task to generate a smooth trajectory satisfying both dynamic constraints and motion limits of the unmanned vehicles while being inside the safe zones. Then the task becomes even more challenging for real-time applications, for which computational efficiency is crucial. In this study, we present a safe flying corridor navigation method, which combines jerk limited trajectories with an efficient testing method to update the position setpoints in real time. Trajectories are generated online and incrementally with a cycle time smaller than 10 μs, which is exceptionally suitable for vehicles with limited onboard computational capability. Safe zones are represented with multiple interconnected bounding boxes which can be arbitrarily oriented.The jerk limited trajectory generation algorithm has been extended to cover the cases with asymmetrical motion limits. The proposed method has been successfully tested and verified in flight simulations and actual experiments.