DESIGN OF PATH PLANNING AND TRACKING CONTROL OF QUADROTOR

被引：4
|
作者：
Gao, Yi [1 ]
Li, Rui [1 ]
Shi, Yingjing [1 ]
Xiao, Li [1 ]
机构：
[1] Univ Elect Sci & Technol China, Sch Automat Engn, Chengdu 611731, Peoples R China
来源：
JOURNAL OF INDUSTRIAL AND MANAGEMENT OPTIMIZATION | 2022年 / 18卷 / 03期
基金：
中国国家自然科学基金;
关键词：
Linear model predictive control; BIT*; path planning; trajectory op-timization; path tracking;
D O I：
10.3934/jimo.2021063
中图分类号：
T [工业技术];
学科分类号：
08 ;
摘要：
In this paper, we first design a motion planning system based on the Batch Informed Trees (BIT*) algorithm for quadrotor and a linear model predictive control (LMPC) is applied to solve the path tracking problem for a quadrotor. BIT* algorithm is used to plan a barrier-free trajectory quickly in an obstructed environment. Then we apply linear model predictive control for the full state quadrotor system model to track the generated trajectory. Finally, the BIT* algorithm simulation case is presented using RVIZ visual interface and some simulation cases are presented using MATLAB / Simulink. The results demonstrate the capability and the effectiveness of the control strategy in fast path tracking and the quadrotor stability, while the desired performance is achieved.
引用
收藏
页码：2221 / 2235
页数：15
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