TY - GEN
T1 - Obstacle-avoidance trajectory planning for attitude-constrained quadrotors using second-order cone programming
AU - Wang, Zhu
AU - Xu, Guangtong
AU - Liu, Li
AU - Long, Teng
N1 - Publisher Copyright:
© 2018, American Institute of Aeronautics and Astronautics Inc, AIAA. All rights reserved.
PY - 2018
Y1 - 2018
N2 - This paper presents an effective method for quadrotor trajectory planning considering attitude limitations and obstacle-avoidance constraints. By transforming attitude limitations as second-order cone constraints of acceleration components, an optimal control model under concave path constraints of obstacle-avoidance is formulated. Then, the optimal control problem is transcribed as a series of second-order cone programming (SOCP) subproblems, where an iterative inter-sample avoidance method is developed to ensure the discretized trajectory not run across obstacle zones by imposing additive affine constraints. By iteratively performing SOCP, the satisfied quadrotor trajectory can be generated efficiently. Simulation results demonstrate that the proposed method can obtain feasible solutions satisfying attitude limitations and avoiding obstacles.
AB - This paper presents an effective method for quadrotor trajectory planning considering attitude limitations and obstacle-avoidance constraints. By transforming attitude limitations as second-order cone constraints of acceleration components, an optimal control model under concave path constraints of obstacle-avoidance is formulated. Then, the optimal control problem is transcribed as a series of second-order cone programming (SOCP) subproblems, where an iterative inter-sample avoidance method is developed to ensure the discretized trajectory not run across obstacle zones by imposing additive affine constraints. By iteratively performing SOCP, the satisfied quadrotor trajectory can be generated efficiently. Simulation results demonstrate that the proposed method can obtain feasible solutions satisfying attitude limitations and avoiding obstacles.
UR - http://www.scopus.com/inward/record.url?scp=85051647152&partnerID=8YFLogxK
U2 - 10.2514/6.2018-3035
DO - 10.2514/6.2018-3035
M3 - Conference contribution
AN - SCOPUS:85051647152
SN - 9781624105562
T3 - 2018 Aviation Technology, Integration, and Operations Conference
BT - 2018 Aviation Technology, Integration, and Operations Conference
PB - American Institute of Aeronautics and Astronautics Inc, AIAA
T2 - 18th AIAA Aviation Technology, Integration, and Operations Conference, 2018
Y2 - 25 June 2018 through 29 June 2018
ER -