Reference : Towards trajectory planning from a given path for multirotor aerial robots trajectory...
Scientific congresses, symposiums and conference proceedings : Paper published in a book
Engineering, computing & technology : Computer science
http://hdl.handle.net/10993/38236
Towards trajectory planning from a given path for multirotor aerial robots trajectory tracking
English
Sanchez Lopez, Jose Luis mailto [University of Luxembourg > Interdisciplinary Centre for Security, Reliability and Trust (SNT) > >]
Olivares Mendez, Miguel Angel [University of Luxembourg > Interdisciplinary Centre for Security, Reliability and Trust (SNT) > >]
Castillo Lopez, Manuel [University of Luxembourg > Interdisciplinary Centre for Security, Reliability and Trust (SNT) > >]
Voos, Holger [University of Luxembourg > Faculty of Science, Technology and Communication (FSTC) > Engineering Research Unit > ; University of Luxembourg > Interdisciplinary Centre for Security, Reliability and Trust (SNT)]
Jun-2018
2018 International Conference on Unmanned Aircraft Systems (ICUAS), Dallas 12-15 June 2018
Yes
No
International
Dallas
USA
2018 International Conference on Unmanned Aircraft Systems (ICUAS)
from 12-06-2018 to 15-06-2018
[en] Planning feasible trajectories given desired
collision-free paths is an essential capability of multirotor aerial
robots that enables the trajectory tracking task, in contrast
to path following. This paper presents a trajectory planner
for multirotor aerial robots carefully designed considering the
requirements of real applications such as aerial inspection or
package delivery, unlike other research works that focus on
aggressive maneuvering. Our planned trajectory is formed by
a set of polynomials of two kinds, acceleration/deceleration and
constant velocity. The trajectory planning is carried out by
means of an optimization that minimizes the trajectory tracking
time, applying some typical constraints as m-continuity or
limits on velocity, acceleration and jerk, but also the maximum
distance between the trajectory and the given path. Our
trajectory planner has been tested in real flights with a big
and heavy aerial platform such the one that would be used in a
real operation. Our experiments demonstrate that the proposed
trajectory planner is suitable for real applications and it is
positively influencing the controller for the trajectory tracking
task.
Researchers ; Professionals
http://hdl.handle.net/10993/38236
10.1109/ICUAS.2018.8453428
FnR ; FNR10484117 > Holger Voos > BEST-RPAS > Robust Emergency Sense-and-Avoid Capability for Small Remotely Piloted Aerial Systems > 01/02/2016 > 31/01/2019 > 2015

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