Trajectory Planning of Quadrotors Flight like Binary Star
Xuan Zhang, Guangyu Zhang, Liying Yang, Yanchun Chang, Zhaoxiong Huang, Miao Sun, Yuqing He · 2022 12th International Conference on CYBER Technology in Automation, Control, and Intelligent Systems (CYBER) · 2022
Two quadrotors flight like binary star steadily at high speed poses a challenging trajectory planning problem. In order to ensure the pitch angle and angular velocity of quadrotors are suitable and feasible, the dynamic constraints need to be taken into account in trajectory planning problem. In this paper, a quadrotor trajectory planning method considering the dynamic constraints is utilized to generate the proper trajectory. Meanwhile, a geometric controller is used to ensure the exactly tracking of the planed trajectory. The final simulation results show that the proposed trajectory planning method was feasible which can achieve stable binary star like flight within the flight capability.