Flatness-Based Trajectory Planning/Replanning for a Quadrotor Unmanned Aerial Vehicle

Abstract

A flatness-based flight trajectory planning/replanning strategy is proposed for a quadrotor unmanned aerial vehicle (UAV). In the nominal situation (fault-free case), the objective is to drive the system from an initial position to a final one without hitting the actuator constraints while minimizing the total time of the mission or minimizing the total energy spent. When actuator faults occur, fault-tolerant control (FTC) is combined with trajectory replanning to change the reference trajectory in function of the remaining resources in the system. The approach employs differential flatness to express the control inputs to be applied in the function of the desired trajectories and formulates the trajectory planning/replanning problem as a constrained optimization problem.

Fault Tolerant Flight Control Techniques with Application to a Quadrotor UAV Testbed

“…Ξ 1 , Ξ 2 and Ξ 3 are three smooth mappings and F (i) is the i th derivative of F. The parameterization of the control inputs u in function of the flat outputs F plays a key role in the trajectory planning problem: the nominal control inputs to be applied during a mission can be expressed in function of the desired trajectories. Thus allowing to tune the profile of the trajectories for keeping the applied control inputs below the actuator limits (Chamseddine et al, 2011b).…”

Filtered Medial Surface Based Approach for 3D Collision-Free Path Planning Problem

“…Sampling based algorithms [1], graph based search algorithms [2,3], mathematic model based algorithms [4,5], and bioinspired algorithms [6][7][8] are the fundamental families of path planning algorithms [9]. Most of the path planning solutions were originally developed for 2D problems and then extended to the third dimension, thus increasing the complexity of the approach and its computational cost.…”

Self-healing Control Against Actuator Stuck Failures Under Constraints: Application to Unmanned Helicopters

“…Similar researches against actuator failures and constraints are limited such as [3] where flatness technique was used for quadrotors specially. However, actuator constraints and only actuator faults were considered and analysis of reference reachability was absent.…”