Real-time Motion Planning and Trajectory Tracking in Complex Environments based on Bézier Curves and Nonlinear MPC Controller
Xi Yu, Wenjun Zhu, Li Xu · 2020
In this paper, we propose a real-time motion planning system and a precise trajectory tracking controller for unmanned aerial vehicles autonomous navigation in complex environments. Based on the simple path planned by the path searching method, we generate the convex flight corridors for quadrotor safe flying by cube inflation. We generate the trajectories composed with piecewise Bézier curves in these convex flight corridors by formulating thé problem as a quadratic program. The time of the trajectories is re-allocated to satisfy the dynamic feasibility. We apply a nonlinear model predictive controller (NMPC) considering the full system model to track the generates trajectories. The performance of our proposed method is tested in a complex simulation system.