Volume 6, 2013Progress in Flight Dynamics, Guidance, Navigation, Control, Fault Detection, and Avionics
|Page(s)||159 - 174|
|Section||Guidance and control|
|Published online||02 December 2013|
A practical receding horizon control framework for path planning and control of autonomous vtol vehicles
Loughborough University Department of Aeronautical and Automotive Engineering, Loughborough University, Loughborough LE11 3TU, U.K.
This paper describes an integrated path planning and tracking control framework for autonomous vertical-take-off-and-landing (VTOL) vehicles, particularly quadrotors. The path planning adopts a receding horizon strategy to repeatedly plan a local trajectory that satisfies both the vehicle dynamics and obstacle-free requirement. A tracking controller is then designed to track the planned path. The differential flatness property of the quadrotor is exploited in both path planner and tracking controller designs. The proposed framework is verified by real-time simulations incorporating online optimization.
© Owned by the authors, published by EDP Sciences, 2013
This is an Open Access article distributed under the terms of the Creative Commons Attribution License 2.0, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.