Trajectory Optimization in Terrain Following Flight of a Quadrotor

Arial navigation systems have been more improvedover the past years. In this paper, we investigate thetrajectory planning problem of a flying robot in order topass earth features in a mountainous area, applying a newnumerical optimization algorithm. Two-dimensionalversion of this problem has been tackled through avariety of approaches; however, three-dimensional spacehas remained unaddressed to a large extent. This researchis aimed to assess direct collocation method (as anumerical trajectory optimization approach) to designoptimal flyable trajectories. Both the ۶-DOF equations ofmotion for a Quadrotor and earth altitude profile featurehave been assumed as problems with physical constraintsof earth features. Simulation results demonstrate thesuperiority of the proposed methodology to find morereliable flying path as the reference trajectory for theguidance system of the unmanned aerial vehicle.

کلیدواژه ها:

Quadrotor ، Terrain Following/Avoidance ، Direct collocation optimization method