Trajectory planning and replanning strategies applied to a quadrotor unmanned aerial vehicle

Journal of Guidance, Control, and Dynamics

Volumn 35, Issue 5, 2012, Pages 1667-1671

  Chamseddine, Abbas ^a,d   Zhang, Youmin ^a,d   Rabbath, Camille Alain ^b,e   Theilliol, Didier ^c,f  

^a Gina Cody School of Engineering and Computer Science   (Canada)

^b DEFENCE RESEARCH AND DEVELOPMENT CANADA VALCARTIER   (Canada)

^c UNIVERSITÉ DE LORRAINE   (France)

^d Department of Mechanical and Industrial Engineering ^*  (Canada)

^e DEPARTMENT OF NATIONAL DEFENCE   (Canada)

^f CENTRE DE RECHERCHE EN AUTOMATIQUE DE NANCY   (France)

Author keywords

[No Author keywords available]

Indexed keywords

ANTENNAS; TRAJECTORIES; TRAVEL TIME;

AGGRESSIVE MANEUVERS; FAULT CONDITIONS; QUAD-ROTOR UAV; QUADROTOR UNMANNED AERIAL VEHICLES; REFERENCE TRAJECTORIES; SYSTEM CONSTRAINTS; TRAJECTORY PLANNING; TWO DIRECTIONS;

UNMANNED AERIAL VEHICLES (UAV);

EID: 84867028837     PISSN: 07315090     EISSN: 15333884     Source Type: Journal    
DOI: 10.2514/1.56606     Document Type: Article

References (13)

1. Tsourdos, A., White, B. A., and Shanmugavel, M., Cooperative Path Planning of Unmanned Aerial Vehicles, Progress in Astronautics and Aeronautics Series, Wiley, New York, 2010.
2. Lai, L. C., Yang, C. C., and Wu, C. J., "Time-Optimal Control of a Hovering Quadrotor Helicopter," Journal of Intelligent and Robotic Systems: Theory and Applications, Vol. 45, No. 2, 2006, pp. 115-135. doi:10.1007/s10846-005-9015-3
3. Meister, O., Frietsch, N., Ascher, C., and Trommer, G. F., "Adaptive Path Planning for a VTOL-UAV," IEEE Aerospace and Electronic Systems Magazine, Vol. 24, No. 7, 2009, pp. 36-41. doi:10.1109/MAES.2009.5208559
4. Kuwata,Y., "Trajectory Planning for UnmannedVehicles Using Robust Receding Horizon Control," Ph.D. Dissertation, Massachusetts Inst. of Technology, Cambridge, MA, 2007.
5. Bouktir, Y., Haddad, M., and Chettibi, T., "Trajectory Planning for a Quadrotor Helicopter," 16th Mediterranean Conference on Control and Automation, Ajaccio, Corsica, France, 25-27 June 2008, pp. 1258-1263.
6. Cowling, I. D., Whidborne, J. F., and Cooke, A. K., "Optimal Trajectory Planning and LQR Control for a Quadrotor UAV," Proceedings of the UKACC International Conference on Control, Glasgow, 30 Aug.- 1 Sept. 2006.
7. NAV Lab., http://users.encs.concordia.ca/~ymzhang/UAVs.htm [retrieved 15 Oct. 2011].
8. Amoozgar, M. H., Chamseddine, A., and Zhang, Y. M., "Fault-Tolerant Fuzzy Gain Scheduled PID for a Quadrotor Helicopter Testbed in the Presence of Actuator Faults," IFAC Conference on Advances in PID Control, Brescia, Italy, 28-30 March 2012.
9. Fliess, M., Lévine, J., Martin, P., and Rouchon, P., "Flatness and Defect of Nonlinear Systems: Introductory Theory and Example," International Journal of Control, Vol. 61, No. 6, 1995, pp. 1327-1361. doi:10.1080/00207179508921959
10. Faiz, N., Agrawal, S. K., and Murray, R. M., "Trajectory Planning of Differentially Flat Systems with Dynamics and Inequalities," Journal of Guidance, Control, and Dynamics, Vol. 24, No. 2, 2001, pp. 219-227. doi:10.2514/2.4732
11. Ren, W., and Beard, R. W., "Virtual Structure Based Spacecraft Formation Control with Formation Feedback," AIAA Guidance, Navigation, and Control Conference and Exhibit, Monterey, CA, 5-8 Aug. 2002.
12. Julier, S. J., and Uhlmann, J. K., "ANewExtension of the Kalman Filter to Nonlinear Systems," Proceedings of AeroSense: The 11th International Symposium on Aerospace/Defence Sensing, Simulation and Controls, Orlando, FL, 20-25 April 1997, pp. 182-193.
13. Henrion, D., Tarbouriech, S., and Vladimír, K., "Control of Linear Systems Subject to Input Constraints: A Polynomial Approach," Automatica, Vol. 37, No. 4, 2001, pp. 597-604. doi:10.1016/S0005-1098(00)00193-X