Trajectory generation on SE(3) for an underactuated vehicle with pointing direction constraints

Mani H. Dhullipalla, Reza Hamrah, Rakesh R. Warier, Amit K. Sanyal

Research output: Chapter in Book/Entry/PoemConference contribution

6 Scopus citations


This paper addresses the problem of generating a position trajectory with pointing direction constraints at given waypoints for underactuated unmanned vehicles. The problem is initially posed on the configuration space mathbb{R}-{3}times mathbb{S}-{2} and thereafter, upon suitable modifications, is re-posed as a problem on the Lie group SE(3). This is done by determining a vector orthogonal to the pointing direction and using it as the vehicle's thrust direction. This translates to converting reduced attitude constraints to full attitude constraints at the waypoints. For the position trajectory, in addition to position constraints, this modification adds acceleration constraints at the waypoints. For real-time implementation with low computational expenses, a linear-quadratic regulator (LQR) approach is adopted to determine the position trajectory with smoothness upto the fourth time derivative of position (snap). For the attitude trajectory, the thrust direction extracted from the position trajectory is used to first propagate the attitude to the subsequent waypoint and then correct it over time to achieve the desired attitude at this waypoint. Finally, numerical simulation results are presented to validate the trajectory generation scheme.

Original languageEnglish (US)
Title of host publication2019 American Control Conference, ACC 2019
PublisherInstitute of Electrical and Electronics Engineers Inc.
Number of pages6
ISBN (Electronic)9781538679265
StatePublished - Jul 2019
Event2019 American Control Conference, ACC 2019 - Philadelphia, United States
Duration: Jul 10 2019Jul 12 2019

Publication series

NameProceedings of the American Control Conference
ISSN (Print)0743-1619


Conference2019 American Control Conference, ACC 2019
Country/TerritoryUnited States

ASJC Scopus subject areas

  • Electrical and Electronic Engineering


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