| Autor: |
Gao, Yi, Li, Rui, Shi, Yingjing, Xiao, Li |
| Předmět: |
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| Zdroj: |
Journal of Industrial & Management Optimization; May2022, Vol. 18 Issue 3, p2221-2235, 15p |
| Abstrakt: |
In this paper, we first design a motion planning system based on the Batch Informed Trees (BIT*) algorithm for quadrotor and a linear model predictive control (LMPC) is applied to solve the path tracking problem for a quadrotor. BIT* algorithm is used to plan a barrier-free trajectory quickly in an obstructed environment. Then we apply linear model predictive control for the full state quadrotor system model to track the generated trajectory. Finally, the BIT* algorithm simulation case is presented using RVIZ visual interface and some simulation cases are presented using MATLAB / Simulink. The results demonstrate the capability and the effectiveness of the control strategy in fast path tracking and the quadrotor stability, while the desired performance is achieved. [ABSTRACT FROM AUTHOR] |
| Databáze: |
Complementary Index |
| Externí odkaz: |
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