Generating instant trajectory of an indoor UAV with respect to its dynamics

• Published in: 2020 23rd International Symposium on Measurement and Control in Robotics (ISMCR) pp. 1 - 5
• Main Authors: Rau, David, Rodina, Jozef, Stec, Filip
• Format: Conference Proceeding
• Language: English
• Published: IEEE 15.10.2020
• Subjects: 6G mobile communication; autonomous aerial vehicles; autonomous indoor UAV; autonomous UAV; control systems; directional range; dynamic range; generating instant trajectory; global trajectory; Hermite spline; indoor UAV; IP networks; known points; mobile robots; motion control; path planning; position control; quadrotor; splines (mathematics); trajectory generation; UAV control; UAV dynamics
• DOI: 10.1109/ISMCR51255.2020.9263769

The application of autonomous indoor UAVs indicates the need for a deeper examination of the trajectory generation. This is due to the fact that the same UAV dynamics are used in more confined space, greatly decreasing the space for maneuvering. The result of path planning methods usually represents a finite set of points with a certain spacing between them. To optimize the system, an effort is made to maximize these distances, while maintaining the shape of the path. To obtain a trajectory suitable for UAV control, it is necessary to define the path between these points analytically. The global trajectory (the whole flight or a significant part of it) can be generated by interpolation or regression of known points. The generation of instant trajectory takes into account the output of reactive navigation and other control systems. The outputs of these systems might provide position targets with large dynamic and directional range over short distances. In our task, we have chosen an approach to generate an instant trajectory via Hermite's spline. With this approach we can generate an instant trajectory from the current state. During generation the transitions between points are continuous even without knowing the previous states, using only the prescribed dynamics at a given point. Therefore, we know the desired position and velocity of the UAV at all times, preventing sharp movements done by a sudden jump of desired position. The result of the task in this paper is the testing and verification of the Hermite's spline on a real autonomous UAV, which is currently being developed in collaboration with the Institute of Robotics and Cybernetics at the Slovak University of Technology in Bratislava.