Minimum jerk trajectory generation of a quadrotor based on the differential flatness

Jing Yu; Zhihao Cai; Yingxun Wang

doi:10.1109/CGNCC.2014.7007318

Minimum jerk trajectory generation of a quadrotor based on the differential flatness

Institute of Unmanned System

Beihang University

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

13 Scopus citations

Abstract

In order to improve smoothness of task trajectories, this paper describe algorithms to generate smooth-optimal trajectories based on the differential flatness of quadrotor. B-spline is used to parameterize the selected flat outputs, and the dynamic constraints or kinematical constraints on quadrotor are transferred to the control point constraints of B-spline. The trajectory generation is then considered an optimal control problem by adopting the integral of squared jerk. And then the optimal solution is solved by transforming the optimal control problem into a nonlinear programming problem. At last the smoothness-optimal trajectories are generated. Simulation results show that, this method can smooth out movements and minimize the accumulative jerk which can decrease trajectory tracking errors effectively.

Original language	English
Title of host publication	2014 IEEE Chinese Guidance, Navigation and Control Conference, CGNCC 2014
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	832-837
Number of pages	6
ISBN (Electronic)	9781479946990
DOIs	https://doi.org/10.1109/CGNCC.2014.7007318
State	Published - 12 Jan 2015
Event	6th IEEE Chinese Guidance, Navigation and Control Conference, CGNCC 2014 - Yantai, China Duration: 8 Aug 2014 → 10 Aug 2014

Publication series

Name	2014 IEEE Chinese Guidance, Navigation and Control Conference, CGNCC 2014

Conference

Conference	6th IEEE Chinese Guidance, Navigation and Control Conference, CGNCC 2014
Country/Territory	China
City	Yantai
Period	8/08/14 → 10/08/14

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10.1109/CGNCC.2014.7007318

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Yu, J., Cai, Z., & Wang, Y. (2015). Minimum jerk trajectory generation of a quadrotor based on the differential flatness. In 2014 IEEE Chinese Guidance, Navigation and Control Conference, CGNCC 2014 (pp. 832-837). Article 7007318 (2014 IEEE Chinese Guidance, Navigation and Control Conference, CGNCC 2014). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/CGNCC.2014.7007318

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title = "Minimum jerk trajectory generation of a quadrotor based on the differential flatness",

abstract = "In order to improve smoothness of task trajectories, this paper describe algorithms to generate smooth-optimal trajectories based on the differential flatness of quadrotor. B-spline is used to parameterize the selected flat outputs, and the dynamic constraints or kinematical constraints on quadrotor are transferred to the control point constraints of B-spline. The trajectory generation is then considered an optimal control problem by adopting the integral of squared jerk. And then the optimal solution is solved by transforming the optimal control problem into a nonlinear programming problem. At last the smoothness-optimal trajectories are generated. Simulation results show that, this method can smooth out movements and minimize the accumulative jerk which can decrease trajectory tracking errors effectively.",

author = "Jing Yu and Zhihao Cai and Yingxun Wang",

note = "Publisher Copyright: {\textcopyright} 2014 IEEE.; 6th IEEE Chinese Guidance, Navigation and Control Conference, CGNCC 2014 ; Conference date: 08-08-2014 Through 10-08-2014",

year = "2015",

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doi = "10.1109/CGNCC.2014.7007318",

language = "英语",

series = "2014 IEEE Chinese Guidance, Navigation and Control Conference, CGNCC 2014",

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Yu, J, Cai, Z & Wang, Y 2015, Minimum jerk trajectory generation of a quadrotor based on the differential flatness. in 2014 IEEE Chinese Guidance, Navigation and Control Conference, CGNCC 2014., 7007318, 2014 IEEE Chinese Guidance, Navigation and Control Conference, CGNCC 2014, Institute of Electrical and Electronics Engineers Inc., pp. 832-837, 6th IEEE Chinese Guidance, Navigation and Control Conference, CGNCC 2014, Yantai, China, 8/08/14. https://doi.org/10.1109/CGNCC.2014.7007318

Minimum jerk trajectory generation of a quadrotor based on the differential flatness. / Yu, Jing; Cai, Zhihao ; Wang, Yingxun.
2014 IEEE Chinese Guidance, Navigation and Control Conference, CGNCC 2014. Institute of Electrical and Electronics Engineers Inc., 2015. p. 832-837 7007318 (2014 IEEE Chinese Guidance, Navigation and Control Conference, CGNCC 2014).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - Minimum jerk trajectory generation of a quadrotor based on the differential flatness

AU - Yu, Jing

AU - Cai, Zhihao

AU - Wang, Yingxun

PY - 2015/1/12

Y1 - 2015/1/12

N2 - In order to improve smoothness of task trajectories, this paper describe algorithms to generate smooth-optimal trajectories based on the differential flatness of quadrotor. B-spline is used to parameterize the selected flat outputs, and the dynamic constraints or kinematical constraints on quadrotor are transferred to the control point constraints of B-spline. The trajectory generation is then considered an optimal control problem by adopting the integral of squared jerk. And then the optimal solution is solved by transforming the optimal control problem into a nonlinear programming problem. At last the smoothness-optimal trajectories are generated. Simulation results show that, this method can smooth out movements and minimize the accumulative jerk which can decrease trajectory tracking errors effectively.

AB - In order to improve smoothness of task trajectories, this paper describe algorithms to generate smooth-optimal trajectories based on the differential flatness of quadrotor. B-spline is used to parameterize the selected flat outputs, and the dynamic constraints or kinematical constraints on quadrotor are transferred to the control point constraints of B-spline. The trajectory generation is then considered an optimal control problem by adopting the integral of squared jerk. And then the optimal solution is solved by transforming the optimal control problem into a nonlinear programming problem. At last the smoothness-optimal trajectories are generated. Simulation results show that, this method can smooth out movements and minimize the accumulative jerk which can decrease trajectory tracking errors effectively.

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DO - 10.1109/CGNCC.2014.7007318

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T3 - 2014 IEEE Chinese Guidance, Navigation and Control Conference, CGNCC 2014

SP - 832

EP - 837

BT - 2014 IEEE Chinese Guidance, Navigation and Control Conference, CGNCC 2014

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 6th IEEE Chinese Guidance, Navigation and Control Conference, CGNCC 2014

Y2 - 8 August 2014 through 10 August 2014

ER -

Yu J, Cai Z , Wang Y. Minimum jerk trajectory generation of a quadrotor based on the differential flatness. In 2014 IEEE Chinese Guidance, Navigation and Control Conference, CGNCC 2014. Institute of Electrical and Electronics Engineers Inc. 2015. p. 832-837. 7007318. (2014 IEEE Chinese Guidance, Navigation and Control Conference, CGNCC 2014). doi: 10.1109/CGNCC.2014.7007318

Minimum jerk trajectory generation of a quadrotor based on the differential flatness

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