Optimal Round Trip Path-Planning of An Aerial Robot by Consideration of Geometric Constraints of Obstacles

Dehkhoda, Shayan; Amiri Atashgah, Mohammad-Ali

doi:10.22034/jast.2023.326735.1112

Document Type : Original Article

Authors

Faculty of New Sciences and Technologies, University of Tehran

https://doi.org/10.22034/jast.2023.326735.1112

Abstract

This paper is dedicated to the optimal path-planning of a quadrotor to deliver the goods in the form of a round-trip mission. At first, quadrotor modeling is performed by the Newton-Euler method and then the problem is formulated as an optimal control effort problem. Then, by discretization of the equations using the direct colocation method, the problem becomes a nonlinear programming system that can be solved by available optimization methods. This discretization helps to make the derivative values in the equations of motion as simple algebraic expressions and the path optimization problem becomes a standard form of nonlinear programming problem (NLP). In this method, instead of obtaining state and control functions, state and control values are obtained at the beginning and endpoints of smaller time intervals. This method is one of the most explicit methods for the numerical solution of differential equations. It should be noted that in this research, safe areas around urban obstacles are considered fixed cylinders. Extensive simulations are evidence of the usefulness of this method, while the vehicle realizes all geometric, dynamic, and kinematic constraints.

Keywords

20.1001.1.17352134.2023.16.2.9.6

Main Subjects

Flight Mechanics Stability & Contorl

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Journal of Aerospace Science and Technology

Optimal Round Trip Path-Planning of An Aerial Robot by Consideration of Geometric Constraints of Obstacles

References

References

Volume 16, Issue 2
October 2023
Pages 114-123

Optimal Round Trip Path-Planning of An Aerial Robot by Consideration of Geometric Constraints of Obstacles

References

References

Volume 16, Issue 2October 2023Pages 114-123

Volume 16, Issue 2
October 2023
Pages 114-123