Smooth quadrotor trajectory generation for tracking a moving target in cluttered environments  

作　　者：Lele XI Zhihong PENG Lei JIAO Ben M.CHEN 

机构地区：[1]School of Automation,Beijing Institute of Technology,Beijing 100081,China [2]State Key Laboratory of Intelligent Control and Decision of Complex System,Beijing 100081,China [3]Peng Cheng Laboratory,Shenzhen 518055,China [4]Department of Mechanical and Automation Engineering,The Chinese University of Hong Kong,Hong Kong 999077,China

出　　处：《Science China(Information Sciences)》2021年第7期128-143,共16页中国科学（信息科学）（英文版）

基　　金：This work was supported by the Key Program of National Natural Science Foundation of China(NSFC)(Grant No.U1613225).

摘　　要：In this paper,we present a trajectory generation method of a quadrotor,based on the optimal smoothing B-spline,for tracking a moving target with consideration of relative tracking pattern or limited field of view of the onboard sensor in cluttered environments.Compared to existing methods,safe flying zone,vehicle physical limits,and smoothness are fully considered to guarantee flight safety,kinodynamic feasibility,and tracking performance.To tackle the cluttered environments,a parallel particle swarm optimization algorithm is applied to find the feasible waypoints that the generated trajectory should be as close to as possible,with consideration of the target’s future state as well as obstacles to trade off the tracking performance and flight safety.Then,a sequential motion planning method,considering the above constraints,is applied and embedded into a cost function for solving the problem of robust tracking trajectory generation for the quadrotor via a convex optimization approach.The feasibility and effectiveness of the proposed method are verified by numerical simulations.

关 键 词：QUADROTOR target tracking trajectory generation B-SPLINE convex optimization 

分 类 号：V279[航空宇航科学与技术—飞行器设计]