Trajectory planning for quadrotor swarm using differential flatness

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master_Zhang_Boshu_2022.pdf (8.51 MB)

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Sähkötekniikan korkeakoulu | Master's thesis
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Date

2022-03-21

Department

Major/Subject

Autonomous Systems

Mcode

ELEC3055

Degree programme

Master's Programme in ICT Innovation

Language

en

Pages

44+6

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Abstract

This thesis focuses on the trajectory generation and following problems of a quadrotor. It focuses on the solution to the trajectory generation problem, and the solution is used as a reference input for the quadrotor controller with proportional derivative (PD) and model predictive control (MPC). Specifically, the thesis firstly uses the A* algorithm as a benchmark path planning algorithm. Then, it takes the discrete waypoints as input and optimizes them to a continuous and smooth trajectory. The optimization adopts two polynomial representations, i.e., monomial and Bernstein representation. In addition, it compares the close-loop solver, unconstrained quadratic programming (QP) and constrained QP with safe flight corridor (SFC) based on the polynomial representation and compares their performances. It also introduces the concept of the relative safe corridor (RSFC) that would be useful to solve the quadrotor swarm trajectory optimization with QP. The thesis presents the performance of the trajectory generation methods for a single quadrotor in a randomly generated cluttered environment by the experiments in Matlab simulation.

Description

Supervisor

Themistoklis, Charalambous

Thesis advisor

Jiang, Wei

Keywords

quadrotor, trajectory planning, Bernstein polynomial, differential flatness, safe flight corridor, QP

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https://urn.fi/URN:NBN:fi:aalto-202203272511

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[dipl] Sähkötekniikan korkeakoulu / ELEC