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Towards trajectory planning from a given path for multirotor aerial robots trajectory tracking
SANCHEZ LOPEZ, Jose Luis; OLIVARES MENDEZ, Miguel Angel; CASTILLO LOPEZ, Manuel et al.
2018In 2018 International Conference on Unmanned Aircraft Systems (ICUAS), Dallas 12-15 June 2018
Peer reviewed
 

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Abstract :
[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.
Disciplines :
Computer science
Author, co-author :
SANCHEZ LOPEZ, Jose Luis  ;  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)
External co-authors :
no
Language :
English
Title :
Towards trajectory planning from a given path for multirotor aerial robots trajectory tracking
Publication date :
June 2018
Event name :
2018 International Conference on Unmanned Aircraft Systems (ICUAS)
Event date :
from 12-06-2018 to 15-06-2018
Audience :
International
Main work title :
2018 International Conference on Unmanned Aircraft Systems (ICUAS), Dallas 12-15 June 2018
Peer reviewed :
Peer reviewed
FnR Project :
FNR10484117 - Robust Emergency Sense-and-avoid Capability For Small Remotely Piloted Aerial Systems, 2015 (01/02/2016-31/01/2019) - Holger Voos
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