Generation of Dynamically Feasible Window Traversing Quadrotor Trajectories Using Logistic Curve
Saurabh Upadhyay, Thomas Stuart Richardson, Arthur Richards · Journal of Intelligent & Robotic Systems · 2022
Abstract This work considers dynamically feasible point-to-point trajectory generation problem for a quadrotor flying through a constrained planner region referred as window (narrow gap). A four parameter logistic (4PL) curve is investigated as a prospective candidate and closed-form conditions are derived on the 4PL design parameters to satisfy the window traversability and vehicle dynamic feasibility constraints. A hierarchical approach first computes a dynamically feasible design parameter set for decoupled trajectory components and then obtains a solution set satisfying 3-D axis-coupled window traversability conditions. Numerical examples with a comparative study are presented to validate the analytical findings that highlight the quick computation of the dynamically feasible window traversing trajectories in complex window scenarios.