A Time-optimal Trajectory Generation Algorithm for Quadrotors with Various States Constraints

摘要

Time-optimal trajectory generation, where a quadrotor is brought from an initial state to a terminal one in minimal time while satisfying various dynamic and kinematic constraints, is enjoying more and more popularity. In this paper, we propose a time-optimal trajectory generation algorithm by exploiting the differential flatness property of the quadrotor dynamics to formulate the optimal control problem, which is further transformed into a nonlinear programming problem. Then we find coefficients that satisfy preset constraints to obtain dynamically-feasible and smooth trajectories represented via time-parameterized polynomials. Simulation and experimental results show the effectiveness of the proposed algorithm.