Abstract
Trajectory generation is one of the most popular techniques for multi-rotors to achieve autonomous navigation capabilities. In this paper, we present an optimization-based approach for generating smooth, feasible and collision-free trajectories. Our method does not require a prior proper time allocation but attempts to optimize time allocation automatically. This method first optimizes trajectories subjected to dynamic constraints and 3D corridor constraints using a quadratic program. Then time allocation is optimized as a semidefinite program by leveraging semidefinite relaxation. A feasible solution is obtained using the rank-one approximation and used to update previous time allocation. This method run iteratively until a feasible trajectory is obtained. Our approach is validated with simulation results. Experimental results show the proposed method ensures to generate feasible trajectories in clutter environments.
Original language | English |
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Title of host publication | Proceedings of the European Control Conference 2019 |
Publisher | IEEE |
Publication date | 2019 |
Pages | 2577-2582 |
ISBN (Electronic) | 9783907144008 , 9783907144015 |
DOIs | |
Publication status | Published - 2019 |
Event | European Control Conference 2019 - Naples, Italy Duration: 25 Jun 2019 → 28 Jun 2019 |
Conference
Conference | European Control Conference 2019 |
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Country/Territory | Italy |
City | Naples |
Period | 25/06/2019 → 28/06/2019 |