A Quaternion-Based Inverse Dynamics Model for Real-Time UAV Trajectory Generation
Rick G. Drury, James Ferris Whidborne · 2009
as an Euler-angle point mass model, permits smooth attitude parameterization and interpolation, and has a linear orientation state equation. Implementation details are described which show that the assumptions underlying both quaternion and Euler-angle models may be maintained, and path constraints evaluated, eciently. Examples of trajectory optimization by discretizing the model in a direct method, using derivative-free optimization and 4-dimensional optimization vectors, show feasible control vectors for O(10 2 ) trajectory evaluations, making the method and model attractive for real-time trajectory generation.