Geometrically Constrained Trajectory Optimization for Multicopters
Huzhou University · Zhejiang University
Abstract
In this article, we present an optimization-based framework for multicopter trajectory planning subject to geometrical configuration constraints and user-defined dynamic constraints. The basis of the framework is a novel trajectory representation built upon our novel optimality conditions for unconstrained control effort minimization. We design linear-complexity operations on this representation to conduct spatial–temporal deformation under various planning requirements. Smooth maps are utilized to exactly eliminate geometrical constraints in a lightweight fashion. A variety of state-input constraints are supported by the decoupling of dense constraint evaluation from sparse parameterization and the backward…
Citation impact
- FWCI
- 31.77
- Percentile
- 100%
- References
- 110
Authors
4Topics & keywords
- Mathematical optimization
- Robustness (evolution)
- Trajectory optimization
- Computer science
- Generality
- Trajectory
- Computation
- Motion planning