A numerically-stable trajectory generation and optimization algorithm for autonomous quadrotor UAVs

This paper introduces a novel trajectory generation and optimization algorithm (TGO) that enables agile and aggressive flight of quadrotor UAVs while considering various constraints associated with robot dynamics, actuator inputs, and flight environment. The TGO algorithm employs time-parametrized p...

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Bibliographic Details

Published in:	Robotics and autonomous systems Vol. 170; p. 104532
Main Authors:	Alqudsi, Yunes, Makaraci, Murat, Kassem, Ayman, El-Bayoumi, Gamal
Format:	Journal Article
Language:	English
Published:	Elsevier B.V 01.12.2023
Subjects:	Autonomous motion control Minimum snap trajectories Motion path planning Quadrotor trajectory generation Trajectory optimization Autonomous motion control Minimum snap trajectories Motion path planning Trajectory optimization Quadrotor trajectory generation
ISSN:	0921-8890, 1872-793X
Online Access:	Get full text
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