Quadrotor Takeoff Trajectory Planning in a One-Dimensional Uncertain Wind-field Aided by Wind-Sensing Infrastructure
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arXiv
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| Auteurs principaux: | , |
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| Format: | Preprint |
| Publié: |
2024
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| _version_ | 1866910316874432512 |
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| author | Kakavitsas, Nicholas Wolek, Artur |
| author_facet | Kakavitsas, Nicholas Wolek, Artur |
| contents | This paper investigates optimal takeoff trajectory planning for a quadrotor modeled with vertical-plane rigid body dynamics in an uncertain, one-dimensional wind-field. The wind-field varies horizontally and propagates across an operating region with a known fixed speed. The operating area of the quadrotor is equipped with wind-sensing infrastructure that shares noisy anemometer measurements with a centralized trajectory planner. The measurements are assimilated via Gaussian process regression to predict the wind at unsampled locations and future time instants. A minimum-time optimal control problem is formulated for the quadrotor to take off and reach a desired vertical-plane position in the presence of the predicted wind-field. The problem is solved using numerical optimal control. Several examples illustrate and compare the performance of the trajectory planner under varying wind conditions and sensing characteristics. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2402_01518 |
| institution | arXiv |
| publishDate | 2024 |
| record_format | arxiv |
| spellingShingle | Quadrotor Takeoff Trajectory Planning in a One-Dimensional Uncertain Wind-field Aided by Wind-Sensing Infrastructure Kakavitsas, Nicholas Wolek, Artur Systems and Control This paper investigates optimal takeoff trajectory planning for a quadrotor modeled with vertical-plane rigid body dynamics in an uncertain, one-dimensional wind-field. The wind-field varies horizontally and propagates across an operating region with a known fixed speed. The operating area of the quadrotor is equipped with wind-sensing infrastructure that shares noisy anemometer measurements with a centralized trajectory planner. The measurements are assimilated via Gaussian process regression to predict the wind at unsampled locations and future time instants. A minimum-time optimal control problem is formulated for the quadrotor to take off and reach a desired vertical-plane position in the presence of the predicted wind-field. The problem is solved using numerical optimal control. Several examples illustrate and compare the performance of the trajectory planner under varying wind conditions and sensing characteristics. |
| title | Quadrotor Takeoff Trajectory Planning in a One-Dimensional Uncertain Wind-field Aided by Wind-Sensing Infrastructure |
| topic | Systems and Control |
| url | https://arxiv.org/abs/2402.01518 |