Corpus ID: 232076422

Geometrically Constrained Trajectory Optimization for Multicopters

@article{Wang2021GeometricallyCT,
  title={Geometrically Constrained Trajectory Optimization for Multicopters},
  author={Zhepei Wang and Xiaoxia Zhou and Chao Xu and Fei Gao},
  journal={ArXiv},
  year={2021},
  volume={abs/2103.00190}
}
We present an optimization-based framework for multicopter trajectory planning subject to geometrical spatial constraints and user-defined dynamic constraints. The basis of the framework is a novel trajectory representation built upon our novel optimality conditions for unconstrained control effort minimization. We design linear-complexity operations on this representation to conduct spatial-temporal deformation under various planning requirements. Smooth maps are utilized to exactly eliminate… Expand
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