JOURNAL BROWSE
Search
Advanced SearchSearch Tips
A Reference Trajectory Generation Method with Piecewise Constant Acceleration Condition for the Curved Flight of a Drone
facebook(new window)  Pirnt(new window) E-mail(new window) Excel Download
 Title & Authors
A Reference Trajectory Generation Method with Piecewise Constant Acceleration Condition for the Curved Flight of a Drone
Jang, Jong Tai; Gong, Hyeon Cheol; Lyou, Joon;
 
 Abstract
This paper describes a three-dimensional reference trajectory generation method for giving commands to an unmanned air vehicle (UAV). The trajectory is a set of consecutive curves with constant acceleration during each interval and passing through via-points at specified times or speeds. The functional inputs are three-dimensional positions and times (or speeds) at via-points, and velocities at both boundaries. Its output is the time series of position values satisfying the piecewise constant acceleration condition. To be specific, the shape of the trajectory, known as the path, is first represented by splines using third degree polynomials. A numeric algorithm is then suggested, which can overcome the demerits of cubic spline method and promptly generate a piecewise constant acceleration trajectory from the given path. To show the effectiveness of the present scheme, trajectory generation cases were treated, and their speed calculation errors were evaluated.
 Keywords
trajectory generation;constant acceleration;cubic spline;drone;UAV;
 Language
Korean
 Cited by
 References
1.
D. Mellinger, N. Michael, and V. Kumar, "Trajectory generation and control for precise aggressive maneuvers with quadcopter," International Journal of Robotics Research, vol. 31, no. 5, pp. 664-674, Apr. 2012. crossref(new window)

2.
S. Lupashin, M. Hehn, M. W. Mueller, A. P. Schoellig, M. Sherback, and R. D'Andrea, "A platform for aerial robotics research and demonstration: The flying machine arena," Journal of Mechatronics, vol. 24, no. 1, pp. 41-54, Feb. 2014. crossref(new window)

3.
J. T. Jang, S. T. Moon, S. H. Han, H. C. Gong, G. H. Choi, I. H. Hwang, and J. Lyou, "Trajectory generation with piecewise constant acceleration and tracking control of a quadcopter," Proc. of IEEE/ICIT International Conference on Industrial Technology (ICIT), Seville, Spain, pp. 530-535, Mar. 2015.

4.
D.-H. Cho, S. T. Moon, J. T. Jang, and D.-Y. Rew, "Collision avoidance maneuver design for the multiple indoor UAV by using AR. Drone," Journal of the Korean Society for Aeronautical & Space Sciences (KSASS) (in Korean), vol. 42, no. 9, pp. 752-761, 2014. crossref(new window)

5.
Y. Bouktir, M. Haddad, and T. Chettibi, "Trajectory planning for a quadrotor helicopter," Proc. of Mediterranean Conference on Control and Automation, Ajaccio, France, pp. 1258-1263, Jun. 2008.

6.
M. W. Mueller, M. Hehn, and R. D'Andrea, "A computationally efficient algorithm for state-to-state quadrocopter trajectory generation and feasibility verification," Proc. of IEEE/RSJ International Conference on Intelligence Robots and Systems (IROS), Tokyo, Japan, pp. 3480-3486, Nov. 2013.

7.
M. Hehn and R. D'Andrea, "Quadrocopter trajectory generation and control," Proc. of IFAC World Congress, Milano, Italy, Aug. 2011, pp. 1485-1491.

8.
S. Nakamura, Numerical Analysis and Graphic Visualization with MATLAB, Prentice-Hall, New Jersey, 1996.

9.
S. T. Moon, D.-H. Cho, S.-H. Han, D. Y. Rew, and H. C. Gong, "Development of indoor navigation control system for swarm multiple AR.Drone's," Aerospace Engineering and Technology (in Korean), vol. 13, no. 1, pp. 166-173, 2014.

10.
Eigen homepage, "Solving sparse linear systems," http://eigen.tuxfamilly.org.

11.
H.-M. Lee, M.-H. Kim, and M.-C. Lee, "A UGV hybrid path generation method by using B-spline curve's control point selection algorithm," Journal of Institute of Control, Robotics and Systems (in Korean), vol. 20, no. 2, pp. 138-142, 2014. crossref(new window)

12.
D. Lee and D. H. Shim, "Optimal path planner considering real terrain for fixed-wing UAVs," Journal of Institute of Control, Robotics and Systems (in Korean), vol. 20, no. 12, pp. 1272- 1277, 2014. crossref(new window)