Trajectory Planning and Tracking for Maneuverable Quadrotors

in this paper, the planning of feasible trajectories of aggressive quadrotors was addressed, and the controllers for tracking the predefined trajectories were proposed. While tackling the aggressive flight models, the overload, flight endurance and minimum turn radius were considered, and planned trajectories were constrained within a tube and every planned trajectory has associated controller or at least a set of control parameters to be designed for tracking. The proposed planning methods and tracking performance were tested through simulation under MATLAB/Simulink, the simulation results validate the effectiveness of the proposed method and controllers.