Please use this identifier to cite or link to this item: https://doi.org/10.1631/FITEE.1800719
Title: Safe navigation of quadrotors with jerk limited trajectory
Authors: Lai, Shu-peng 
Lan, Meng-lu
Li, Ya-xuan
Chen, Ben M 
Keywords: Science & Technology
Technology
Computer Science, Information Systems
Computer Science, Software Engineering
Engineering, Electrical & Electronic
Computer Science
Engineering
Quadrotor
Unmanned aerial vehicle
Motion planning
Issue Date: 1-Jan-2019
Publisher: ZHEJIANG UNIV
Citation: Lai, Shu-peng, Lan, Meng-lu, Li, Ya-xuan, Chen, Ben M (2019-01-01). Safe navigation of quadrotors with jerk limited trajectory. FRONTIERS OF INFORMATION TECHNOLOGY & ELECTRONIC ENGINEERING 20 (1) : 107-119. ScholarBank@NUS Repository. https://doi.org/10.1631/FITEE.1800719
Abstract: Many aerial applications require unmanned aerial systems operate in safe zones because of the presence of obstacles or security regulations. It is a non-trivial task to generate a smooth trajectory satisfying both dynamic constraints and motion limits of the unmanned vehicles while being inside the safe zones. Then the task becomes even more challenging for real-time applications, for which computational efficiency is crucial. In this study, we present a safe flying corridor navigation method, which combines jerk limited trajectories with an efficient testing method to update the position setpoints in real time. Trajectories are generated online and incrementally with a cycle time smaller than 10 μs, which is exceptionally suitable for vehicles with limited onboard computational capability. Safe zones are represented with multiple interconnected bounding boxes which can be arbitrarily oriented. The jerk limited trajectory generation algorithm has been extended to cover the cases with asymmetrical motion limits. The proposed method has been successfully tested and verified in flight simulations and actual experiments.
Source Title: FRONTIERS OF INFORMATION TECHNOLOGY & ELECTRONIC ENGINEERING
URI: https://scholarbank.nus.edu.sg/handle/10635/215318
ISSN: 20959184
20959230
DOI: 10.1631/FITEE.1800719
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