Design of path planning and tracking control of quadrotor

Yi Gao; Rui Li; Yingjing Shi; Li Xiao

doi:10.3934/jimo.2021063

Article Contents

2022, Volume 18, Issue 3: 2221-2235. Doi: 10.3934/jimo.2021063

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Design of path planning and tracking control of quadrotor

School of Automation Engineering, University of Electronic Science and Technology of China, Chengdu 611731, China

^* Corresponding author: Rui Li (lirui@uestc.edu.cn)
^* Corresponding author: Rui Li (lirui@uestc.edu.cn)

Received: December 2020

Revised: January 2021

Published: May 2022

This work is supported in part by the National Natural Science Foundation of China under grant (No. 61973055), the Fundamental Research Funds for the Central Universities (No. ZYGX2019J062) and a grant from the applied basic research programs of Sichuan province (No. 2019YJ0206)

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Abstract

In this paper, we first design a motion planning system based on the Batch Informed Trees (BIT*) algorithm for quadrotor and a linear model predictive control (LMPC) is applied to solve the path tracking problem for a quadrotor. BIT* algorithm is used to plan a barrier-free trajectory quickly in an obstructed environment. Then we apply linear model predictive control for the full state quadrotor system model to track the generated trajectory. Finally, the BIT* algorithm simulation case is presented using RVIZ visual interface and some simulation cases are presented using MATLAB / Simulink. The results demonstrate the capability and the effectiveness of the control strategy in fast path tracking and the quadrotor stability, while the desired performance is achieved.

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Mathematics Subject Classification: Primary: 58F15, 58F17; Secondary: 53C35.

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Figure 1. The system structure diagram

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Figure 2. The earth-fixed inertial and body-fixed frames of a quadcopter

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Figure 3. Path planning module test result

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Figure 4. Reference trajectory

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Figure 5. Path tracking of the quadrotor

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Figure 6. Path tracking of $ x(t) $

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Figure 7. Path tracking of $ y(t) $

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