A trajectory design method for quadrotor based on DMOC method and Dubins path algorithm
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- 英文论文题名：A trajectory design method for quadrotor based on DMOC method and Dubins path algorithm
- 论文作者：Yunyu Zu ; Weizhong Zhang ; Jiayuan Shan
- 英文论文作者：Yunyu Zu ; Weizhong Zhang ; Jiayuan Shan ; School of Aerospace Engineering ; Beijing Institute of Technology
- 年：2017
- 作者机构：School of Aerospace Engineering,Beijing Institute of Technology;
- 英文论文关键词：Dubins path ; DMOC ; Trajectory Generation ; Quadrotor
- 会议召开时间：2017-07-26
- 会议录名称：第36届中国控制会议论文集（B）
- 英文会议录名称：Proceedings of the 36th Chinese Control Conference（B）
- 语种：英文
- 分类号：V249
- 学会代码：KZLL
- 会议名称：第36届中国控制会议
- 会议地点：中国辽宁大连
- 主办单位：中国自动化学会控制理论专业委员会
- 学会名称：中国自动化学会控制理论专业委员会
- 页数：6
- 文件大小：548k
- 原文格式：D
- 会议级别：全国
摘要
This paper proposes a trajectory design methodology which exploits both the benefits of DMOC method and Dubins curve algorithm. This methodology can generate a class of proper trajectories for a typical mechanical system such as quadrotor to satisfy designated mission requirements. DMOC based trajectory generation method is based on the direct discretization of Lagrange-D'Alembert principle while Dubins curve refers to the shortest path that connects two points in the 2D Euclidean plane with a constraint on the curvature of the path. In our trajectory design, with the consideration of quadrotor mission requirements, the trajectory of quadrotor is generated by the Dubins curve algorithm to find an optimal trajectory with limited maximum steering angle at first and secondly using the DMOC method to find the time least path. Furthermore, the generated combinative trajectory is regarded as the reference input for the quadrotor to track. The simulation results validate that the combination of DMOC method and Dubins curve algorithm can generate sub-optimal trajectory for the specified mission.
This paper proposes a trajectory design methodology which exploits both the benefits of DMOC method and Dubins curve algorithm. This methodology can generate a class of proper trajectories for a typical mechanical system such as quadrotor to satisfy designated mission requirements. DMOC based trajectory generation method is based on the direct discretization of Lagrange-D'Alembert principle while Dubins curve refers to the shortest path that connects two points in the 2D Euclidean plane with a constraint on the curvature of the path. In our trajectory design, with the consideration of quadrotor mission requirements, the trajectory of quadrotor is generated by the Dubins curve algorithm to find an optimal trajectory with limited maximum steering angle at first and secondly using the DMOC method to find the time least path. Furthermore, the generated combinative trajectory is regarded as the reference input for the quadrotor to track. The simulation results validate that the combination of DMOC method and Dubins curve algorithm can generate sub-optimal trajectory for the specified mission.
This paper proposes a trajectory design methodology which exploits both the benefits of DMOC method and Dubins curve algorithm. This methodology can generate a class of proper trajectories for a typical mechanical system such as quadrotor to satisfy designated mission requirements. DMOC based trajectory generation method is based on the direct discretization of Lagrange-D'Alembert principle while Dubins curve refers to the shortest path that connects two points in the 2D Euclidean plane with a constraint on the curvature of the path. In our trajectory design, with the consideration of quadrotor mission requirements, the trajectory of quadrotor is generated by the Dubins curve algorithm to find an optimal trajectory with limited maximum steering angle at first and secondly using the DMOC method to find the time least path. Furthermore, the generated combinative trajectory is regarded as the reference input for the quadrotor to track. The simulation results validate that the combination of DMOC method and Dubins curve algorithm can generate sub-optimal trajectory for the specified mission.
引文
[1]Zhang W,Inanc T,Marsden J E.DMOC approach of realtime trajectory generation for mechanical systems,International Conference on Control,Automation,Robotics and Vision,Icarcv 2008,Hanoi,Vietnam,17-20 December2008,Proceedings.2008:2192-2195.
[2]Mellinger D,Kumar V,Minimum snap trajectory generation and control for quadrotors,IEEE International Conference on Robotics and Automation.IEEE Xplore,2011:2520-2525.
[3]M.Ross,Q.Gong,Guess-Free trajectory optimization,AIAA/AAS Astrodynamics Specialist Conference and Exhibit,Honolulu,Hawaii,18-21 August 2008,AIAA 2008-6273.
[4]Y.Bouktir,M.Haddad,T.Chettibi,Trajectory planning for a quadrotor helicopter,16th Mediterranean Conference on Control and Automation Congress Centre,Ajaccio,France,June 2008,25-27.
[5]Park B S,Yoo S J,Jin B P,et al.A Simple Adaptive Control Approach for Trajectory Tracking of Electrically Driven Nonholonomic Mobile Robots,IEEE Transactions on Control Systems Technology,2010,18(5):1199-1206.
[6]Betts J T.Survey of Numerical Methods for Trajectory Optimization,Journal of Guidance Control&Dynamics,2012,21(2):193-207.
[7]Junge O,Marsden J E,Ober-Bl?baum S.DISCRETEMECHANICS AND OPTIMAL CONTROL,Esaim Control Optimisation&Calculus of Variations,2008,17(2):322-352.
[8]Zhang J,Zhang W,Shan J.A new DMOC-based approach to solve Goddard rocket problem,International Conference on Mechatronics and Automation.2012:2165-2169.
[9]Li W,Chen W,Wang C,et al.A 3D path planning approach for quadrotor UAV navigation,IEEE International Conference on Information and Automation.IEEE,2015.
[10]Wang D,Zhang W,Shan J.A multi-phase DMOC-based optimal trajectory generation methodology for a quadrotor,Control Conference.IEEE,2014:1038-1049.
[11]Wang D,Zhang W,Shan J.Optimal trajectory planning for a quadrotor via a Gauss Pseudo-spectrum Method,International Conference on Natural Computation.2013:1666-1670.
[12]Wang D,Zhang W.Trajectory optimization and tracking control of mobile robots based on DMOC,Control Conference.IEEE,2014:2422-2427.
[13]Zhang W,Inanc T.A tutorial for applying DMOC to solve optimization control problems,IEEE International Conference on Systems Man&Cybernetics.IEEE,2010:1857-1862.
[14]Shkel A M,Lumelsky V.Classification of the Dubins set,Robotics&Autonomous Systems,2001,34(4):179-202.
[2]Mellinger D,Kumar V,Minimum snap trajectory generation and control for quadrotors,IEEE International Conference on Robotics and Automation.IEEE Xplore,2011:2520-2525.
[3]M.Ross,Q.Gong,Guess-Free trajectory optimization,AIAA/AAS Astrodynamics Specialist Conference and Exhibit,Honolulu,Hawaii,18-21 August 2008,AIAA 2008-6273.
[4]Y.Bouktir,M.Haddad,T.Chettibi,Trajectory planning for a quadrotor helicopter,16th Mediterranean Conference on Control and Automation Congress Centre,Ajaccio,France,June 2008,25-27.
[5]Park B S,Yoo S J,Jin B P,et al.A Simple Adaptive Control Approach for Trajectory Tracking of Electrically Driven Nonholonomic Mobile Robots,IEEE Transactions on Control Systems Technology,2010,18(5):1199-1206.
[6]Betts J T.Survey of Numerical Methods for Trajectory Optimization,Journal of Guidance Control&Dynamics,2012,21(2):193-207.
[7]Junge O,Marsden J E,Ober-Bl?baum S.DISCRETEMECHANICS AND OPTIMAL CONTROL,Esaim Control Optimisation&Calculus of Variations,2008,17(2):322-352.
[8]Zhang J,Zhang W,Shan J.A new DMOC-based approach to solve Goddard rocket problem,International Conference on Mechatronics and Automation.2012:2165-2169.
[9]Li W,Chen W,Wang C,et al.A 3D path planning approach for quadrotor UAV navigation,IEEE International Conference on Information and Automation.IEEE,2015.
[10]Wang D,Zhang W,Shan J.A multi-phase DMOC-based optimal trajectory generation methodology for a quadrotor,Control Conference.IEEE,2014:1038-1049.
[11]Wang D,Zhang W,Shan J.Optimal trajectory planning for a quadrotor via a Gauss Pseudo-spectrum Method,International Conference on Natural Computation.2013:1666-1670.
[12]Wang D,Zhang W.Trajectory optimization and tracking control of mobile robots based on DMOC,Control Conference.IEEE,2014:2422-2427.
[13]Zhang W,Inanc T.A tutorial for applying DMOC to solve optimization control problems,IEEE International Conference on Systems Man&Cybernetics.IEEE,2010:1857-1862.
[14]Shkel A M,Lumelsky V.Classification of the Dubins set,Robotics&Autonomous Systems,2001,34(4):179-202.