Design of path planning and tracking control of quadrotor
Yi Gao, Rui Li, Yingjing Shi, Li Xiao · Journal of Industrial and Management Optimization · 2021
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.