Three-dimensional Trajectory Optimization for Quadrotor Tail-sitter UAVs: Traversing through Given Waypoints
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arXiv
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| Autores principales: | , , , |
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| Formato: | Preprint |
| Publicado: |
2024
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| Acceso en línea: | |
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| _version_ | 1866917896135901184 |
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| author | Fan, Mingyue Xie, Fangfang Ji, Tingwei Zheng, Yao |
| author_facet | Fan, Mingyue Xie, Fangfang Ji, Tingwei Zheng, Yao |
| contents | Given the evolving application scenarios of current fixed-wing unmanned aerial vehicles (UAVs), it is necessary for UAVs to possess agile and rapid 3-dimensional flight capabilities. Typically, the trajectory of a tail-sitter is generated separately for vertical and level flights. This limits the tail-sitter's ability to move in a 3-dimensional airspace and makes it difficult to establish a smooth transition between vertical and level flights. In the present work, a 3-dimensional trajectory optimization method is proposed for quadrotor tail-sitters. Especially, the differential dynamics constraints are eliminated when generating the trajectory of the tail-sitter by utilizing differential flatness method. Additionally, the temporal parameters of the trajectory are generated using the state-of-the-art trajectory generation method called MINCO (minimum control). Subsequently, we convert the speed constraint on the vehicle into a soft constraint by discretizing the trajectory in time. This increases the likelihood that the control input limits are satisfied and the trajectory is feasible. Then, we utilize a kind of model predictive control (MPC) method to track trajectories. Even if restricting the tail-sitter's motion to a 2-dimensional horizontal plane, the solutions still outperform those of the L1 Guidance Law and Dubins path. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2406_08347 |
| institution | arXiv |
| publishDate | 2024 |
| record_format | arxiv |
| spellingShingle | Three-dimensional Trajectory Optimization for Quadrotor Tail-sitter UAVs: Traversing through Given Waypoints Fan, Mingyue Xie, Fangfang Ji, Tingwei Zheng, Yao Robotics Given the evolving application scenarios of current fixed-wing unmanned aerial vehicles (UAVs), it is necessary for UAVs to possess agile and rapid 3-dimensional flight capabilities. Typically, the trajectory of a tail-sitter is generated separately for vertical and level flights. This limits the tail-sitter's ability to move in a 3-dimensional airspace and makes it difficult to establish a smooth transition between vertical and level flights. In the present work, a 3-dimensional trajectory optimization method is proposed for quadrotor tail-sitters. Especially, the differential dynamics constraints are eliminated when generating the trajectory of the tail-sitter by utilizing differential flatness method. Additionally, the temporal parameters of the trajectory are generated using the state-of-the-art trajectory generation method called MINCO (minimum control). Subsequently, we convert the speed constraint on the vehicle into a soft constraint by discretizing the trajectory in time. This increases the likelihood that the control input limits are satisfied and the trajectory is feasible. Then, we utilize a kind of model predictive control (MPC) method to track trajectories. Even if restricting the tail-sitter's motion to a 2-dimensional horizontal plane, the solutions still outperform those of the L1 Guidance Law and Dubins path. |
| title | Three-dimensional Trajectory Optimization for Quadrotor Tail-sitter UAVs: Traversing through Given Waypoints |
| topic | Robotics |
| url | https://arxiv.org/abs/2406.08347 |