Efficient and Robust Time-Optimal Trajectory Planning and Control for Agile Quadrotor Flight

Autor:	Zhou, Ziyu, Wang, Gang, Sun, Jian, Wang, Jikai, Chen, Jie
Rok vydání:	2023
Předmět:	Computer Science - Robotics Electrical Engineering and Systems Science - Systems and Control
Druh dokumentu:	Working Paper
Popis:	Agile quadrotor flight relies on rapidly planning and accurately tracking time-optimal trajectories, a technology critical to their application in the wild. However, the computational burden of computing time-optimal trajectories based on the full quadrotor dynamics (typically on the order of minutes or even hours) can hinder its ability to respond quickly to changing scenarios. Additionally, modeling errors and external disturbances can lead to deviations from the desired trajectory during tracking in real time. This letter proposes a novel approach to computing time-optimal trajectories, by fixing the nodes with waypoint constraints and adopting separate sampling intervals for trajectories between waypoints, which significantly accelerates trajectory planning. Furthermore, the planned paths are tracked via a time-adaptive model predictive control scheme whose allocated tracking time can be adaptively adjusted on-the-fly, therefore enhancing the tracking accuracy and robustness. We evaluate our approach through simulations and experimentally validate its performance in dynamic waypoint scenarios for time-optimal trajectory replanning and trajectory tracking. Comment: submitted to IEEE Robotics and Automation Letters, for the associated video, see https://youtu.be/E6QVHWcvB6E
Databáze:	arXiv
Externí odkaz:	http://arxiv.org/abs/2305.02772 Zobrazit plný text záznamu View this record from Arxiv