TY - GEN
T1 - Minimum jerk trajectory generation of a quadrotor based on the differential flatness
AU - Yu, Jing
AU - Cai, Zhihao
AU - Wang, Yingxun
N1 - Publisher Copyright:
© 2014 IEEE.
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.
UR - https://www.scopus.com/pages/publications/84922572536
U2 - 10.1109/CGNCC.2014.7007318
DO - 10.1109/CGNCC.2014.7007318
M3 - 会议稿件
AN - SCOPUS:84922572536
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 -