Zaini, Abdul Hanif (Nanyang Technological University), Cao, Kun (Nanyang Technological University), Xie, Lihua (Nanyang Technological University)

Efficient Online Jerk-Limited Trajectory Generation for Multicopters Using Barrier Functions

Scheduled for presentation during the Regular Session "Path Planning II" (WeB3), Wednesday, June 16, 2021, 15:00−15:20, Edessa

2021 International Conference on Unmanned Aircraft Systems (ICUAS), June 15-18, 2021, Athens, Greece

This information is tentative and subject to change. Compiled on April 18, 2024

Abstract

This paper proposes a jerk-limited trajectory generation algorithm using a discrete implementation of the Zeroing Control Barrier Function method. This method achieves greater computational efficiency than previous works as it requires only a single pass in the forward simulation of the triple integrator and does not require a bisection search. A time-optimal trajectory can be generated from any arbitrary initial state with asymmetric constraints on velocity, acceleration and jerk for a target position with any final velocity and zero final acceleration. In addition, we demonstrate a one step ahead trajectory controller combined with an Extended State Observer in simulation of a hexacopter model.