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Optimal Trajectory Planning of a Quadrotor toward Free Flying Target Catching
Authors
代波
何玉庆
+5 more
刘光军
张广玉
杨丽英
谷丰
韩建达
Publication date
1 January 2019
Publisher
Abstract
自由飞行目标物捕获作为动态任务,在其被执行的过程中,四旋翼不仅要规划出一条时间最优的追踪轨迹,而且还要根据目标物的位置反馈信息实时对轨迹进行重新规划,以实现在最短的时间内追上目标物.针对这一问题,提出了诱导时间最优MPC (model predictive control)算法用于四旋翼的轨迹规划.该算法通过宽松约束条件下时间最优轨迹的引导,利用MPC的滚动优化策略,可以在每个控制周期内用反馈信息实时求解时间最优的追踪轨迹.为了躲避追踪路径中的障碍物,本文还提出了一种用动态线性约束表示障碍物的方法,以提高障碍物约束下轨迹求解的效率.结合诱导时间最优MPC的算法,可以在线实时地求解出具有障碍物避碰能力的时间最优轨迹.仿真结果表明了本文提出算法的有效性,其高效的计算效率也能满足实际系统对算法实时性的要求.</p
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Institutional Repository of Institute of Automation, CAS
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oai:ir.sia.cn/:173321/25609
Last time updated on 16/09/2020
Shenyang Institute of Automation,Chinese Academy Of Sciences
See this paper in CORE
Go to the repository landing page
Download from data provider
oai:ir.sia.cn/:173321/25609
Last time updated on 17/10/2019