A trajectory design method for quadrotor based on DMOC method and Dubins path algorithm

This paper proposes a trajectory design methodology which exploits both the benefits of DMOC method and Dubins curve algorithm. This methodology can generate a class of proper trajectories for a typical mechanical system such as quadrotor to satisfy designated mission requirements. DMOC based trajectory generation method is based on the direct discretization of Lagrange-D'Alembert principle while Dubins curve refers to the shortest path that connects two points in the 2D Euclidean plane with a constraint on the curvature of the path. In our trajectory design, with the consideration of quadrotor mission requirements, the trajectory of quadrotor is generated by the Dubins curve algorithm to find an optimal trajectory with limited maximum steering angle at first and secondly using the DMOC method to find the time least path. Furthermore, the generated combinative trajectory is regarded as the reference input for the quadrotor to track. The simulation results validate that the combination of DMOC method and Dubins curve algorithm can generate sub-optimal trajectory for the specified mission.