Trajectory Planning for Quadrotor Swarm using Differential Flatness
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Sähkötekniikan korkeakoulu |
Master's thesis
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Authors
Date
2022-03-21
Department
Major/Subject
Autonomous Systems
Mcode
ELEC3055
Degree programme
Master's Programme in ICT Innovation
Language
en
Pages
44+6
Series
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, CharalambousThesis advisor
Jiang, WeiKeywords
quadrotor, trajectory planning, Bernstein polynomial, differential flatness, safe flight corridor, QP