Trajectory Generation Using Semidefinite Programming For Multi-Rotors

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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 languageEnglish
Title of host publicationProceedings of the European Control Conference 2019
Publication date2019
ISBN (Electronic)9783907144008 , 9783907144015
Publication statusPublished - 2019
EventEuropean Control Conference 2019 - Naples, Italy
Duration: 25 Jun 201928 Jun 2019


ConferenceEuropean Control Conference 2019


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