Geometrically Constrained Trajectory Optimization for Multicopters

• Published in: IEEE transactions on robotics Vol. 38; no. 5; pp. 3259 - 3278
• Main Authors: Wang, Zhepei, Zhou, Xin, Xu, Chao, Gao, Fei
• Format: Journal Article
• Language: English
• Published: New York IEEE 01.10.2022; The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
• Subjects: Aerial systems; applications; autonomous vehicle navigation; collision avoidance; Constraints; Decoupling; motion and path planning; Optimization; Parameterization; Planning; Representations; Robots; Safety; Trajectory; Trajectory optimization; Trajectory planning; Vehicle dynamics

In this article, we present an optimization-based framework for multicopter trajectory planning subject to geometrical configuration constraints and user-defined dynamic constraints. The basis of the framework is a novel trajectory representation built upon our novel optimality conditions for uncons...