Quadrotor Takeoff Trajectory Planning in a One-Dimensional Uncertain Wind-field Aided by Wind-Sensing Infrastructure
CoRR(2024)
摘要
This paper investigates optimal takeoff trajectory planning for a quadrotor
modeled with vertical-plane rigid body dynamics in an uncertain,
one-dimensional wind-field. The wind-field varies horizontally and propagates
across an operating region with a known fixed speed. The operating area of the
quadrotor is equipped with wind-sensing infrastructure that shares noisy
anemometer measurements with a centralized trajectory planner. The measurements
are assimilated via Gaussian process regression to predict the wind at
unsampled locations and future time instants. A minimum-time optimal control
problem is formulated for the quadrotor to take off and reach a desired
vertical-plane position in the presence of the predicted wind-field. The
problem is solved using numerical optimal control. Several examples illustrate
and compare the performance of the trajectory planner under varying wind
conditions and sensing characteristics.
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