Autonomous waypoint planning, optimal trajectory generation and nonlinear tracking control for multi-rotor UAVS

Abstract

A framework for autonomous waypoint planning, trajectory generation through waypoints, and trajectory tracking for multi-rotor unmanned aerial vehicles (UAVs) is proposed in this work. Safe and effective operations of these UAVs is a problem that demands obstacle avoidance strategies and advanced trajectory planning and control schemes for stability and energy efficiency. To address this problem, a two-level optimization strategy is used for trajectory generation, then the trajectory is tracked in a stable manner. The framework given here consists of the following components: (a) a deep reinforcement learning (DRL)-based algorithm for optimal waypoint planning while minimizing control energy and avoiding obstacles in a given environment; (b) an optimal, smooth trajectory generation algorithm through waypoints, that minimizes a combinaton of velocity, acceleration, jerk and snap; and (c) a stable tracking control law that determines a control thrust force for an UAV to track the generated trajectory.

Original languageEnglish (US)
Title of host publication2019 18th European Control Conference, ECC 2019
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages2695-2700
Number of pages6
ISBN (Electronic)9783907144008
DOIs
StatePublished - Jun 1 2019
Event18th European Control Conference, ECC 2019 - Naples, Italy
Duration: Jun 25 2019Jun 28 2019

Publication series

Name2019 18th European Control Conference, ECC 2019

Conference

Conference18th European Control Conference, ECC 2019
CountryItaly
CityNaples
Period6/25/196/28/19

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Eslamiat, H., Li, Y., Wang, N., Sanyal, A., & Qiu, Q. (2019). Autonomous waypoint planning, optimal trajectory generation and nonlinear tracking control for multi-rotor UAVS. In 2019 18th European Control Conference, ECC 2019 (pp. 2695-2700). [8795855] (2019 18th European Control Conference, ECC 2019). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.23919/ECC.2019.8795855