A Trajectory Generation Method for Multi-Rotor UAV Based on Adaptive Adjustment Strategy

• Published in: Applied sciences Vol. 13; no. 6; p. 3435
• Main Authors: Wang, Kaipeng, Meng, Zhijun, Wang, Zichen, Wu, Zhenping
• Format: Journal Article
• Language: English
• Published: Basel MDPI AG 01.03.2023
• Subjects: aerial systems: perception and autonomy; B spline functions; collision avoidance; Comparative analysis; Control algorithms; Flight; Flying-machines; Methods; motion and path planning; Optimization; Problem solving; Real time; Safety; Simulation methods; Smoothness; Trajectory control; Trajectory optimization; Trajectory planning; Unmanned aerial vehicles; Upper bounds
• ISSN: 2076-3417; 2076-3417
• DOI: 10.3390/app13063435

In order to fly safely and autonomously in complex environments, UAVs need to be able to plan their trajectories in real-time. This paper proposes an improved B-spline-based trajectory generation method that can generate safe, smooth, and kinodynamically feasible trajectories in real-time. This paper firstly introduces the principle of error upper bound of the B-spline curve and proposes a new trajectory safety assurance method; then, the loss function of trajectory is constructed based on safety, smoothness, and flight time; finally, a parameter adaptive trajectory optimization method is proposed, so that obtain the safe trajectory. Compared with the existing methods, the proposed method has two important improvements: (1) it solves the problem of overly conservative safety distance estimation at control points, improves the trajectory smoothness, and reduces the required flight time; (2) it proposes a trajectory optimization method with adaptive adjustment of safety distance parameters, which improves the quality and success rate of the planned trajectory. We validate our proposed method in simulation and real-world tasks, and the test results show that the method proposed in this paper can significantly improve the quality of the generated trajectory.