Attitude-Constrained Time-Optimal Trajectory Planning for Rotorcrafts: Theory and Application to Visual Servoing

• Published in: IEEE/ASME transactions on mechatronics Vol. 25; no. 4; pp. 1912 - 1921
• Main Authors: Zhang, Xuetao, Fang, Yongchun, Zhang, Xuebo, Shen, Peiyao, Jiang, Jingqi, Chen, Xiang
• Format: Journal Article
• Language: English
• Published: New York IEEE 01.08.2020; The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
• Subjects: Acceleration; Algorithms; Attitudes; Constraints; Field of view; Field of view (FOV) constraints; IEEE transactions; Mechatronics; Planning; Real time; Real-time systems; Rotary wing aircraft; rotorcraft unmanned aerial vehicle (UAV); time-optimal trajectory planning (TOTP); Trajectory; Trajectory optimization; Trajectory planning; Visual servoing
• ISSN: 1083-4435; 1941-014X
• DOI: 10.1109/TMECH.2020.2993617

In this article, a novel real-time time-optimal trajectory planning (TOTP) approach is proposed for rotorcrafts under velocity constraints and complex nonconvex thrust, attitude input constraints. Different from existing works, the proposed method is the first real-time TOTP solution for rotorcrafts...