HAL will be down for maintenance from Friday, June 10 at 4pm through Monday, June 13 at 9am. More information
Skip to Main content Skip to Navigation
Conference papers

Quad-rotor MAV trajectory planning in wind fields

Abstract : This paper addresses the problem of time optimal path planning for a quadrotor helicopter evolving in a region of known winds. Usually, the flight control of quadrotors subject to wind disturbances challenge seeks to find the optimal control to keep track of a desired trajectory in a windy region. This approach has one major disadvantage: the quadrotor flight control has to compensate for trajectory deviations; therefore, the energy consumption becomes an issue. Most unmanned aerial vehicles (UAV) navigation techniques use waypoints to accomplish their missions. In the framework of a waypoint based navigation, a promising path planning strategy would be a time optimal approach in which the UAV would take advantage of wind to reach its next waypoint; therefore, saving time and energy (under constant forward velocity constraint). A model separation is used to simplify the control of the six-degrees-of-freedom (6DOF) dynamics of the quadrotor. Such approach allows to deal with quadrotor's 3D-motion through two subsystems: dynamic (altitude and MAV-relative forward velocity) and kinematic (nonholonomic navigation) subsystems. In terms of control, a hierarchical control scheme is used to stabilize dynamic and kinematic underactuated subsystems involved in the navigation task. The time optimal path planning is computed using a dynamic optimization method for continuous systems with some state variables specified at an unspecified terminal time. Results have been validated in simulation.
Document type :
Conference papers
Complete list of metadata

Contributor : Frédéric Davesne Connect in order to contact the contributor
Submitted on : Thursday, November 28, 2013 - 3:46:19 PM
Last modification on : Thursday, January 13, 2022 - 12:00:19 PM



Jose Alfredo Guerrero, Juan Antonio Escareño, Yasmina Bestaoui. Quad-rotor MAV trajectory planning in wind fields. IEEE International Conference on Robotics and Automation (ICRA 2013), May 2013, Karlsruhe, Germany. pp.778--783, ⟨10.1109/ICRA.2013.6630661⟩. ⟨hal-00910993⟩



Record views