A Prototype of an Autonomous Controller for a （一个原型的自动控制器）.pdf

A Prototype of an Autonomous Controller for a Quadrotor UAV Ian D. Cowling, Oleg A. Yakimenko, James F. Whidborne, and Alastair K. Cooke Abstract— The paper proposes a complete real-time control In order to achieve full autonomy, a controller has to algorithm for autonomous collision-free operations of the incorporate both traj ectory planning and path following. quadrotor UAV. As opposed to fixed wing vehicles the Usually, these two problems are treated separately [1]. To quadrotor is a small agile vehicle which might be more date, several techniques based on the ideas of the direct suitable for the variety of specific applications including method of calculus of variations have been developed for search and rescue, surveillance and remote inspection. The off-line optimization [2]-[19], [34]. However real-time developed control system incorporates both traj ectory applications require another approach [20]-[28]. planning and path following. Using a differential flatness property the traj ectory planning is posed as a constrained Differential flatness is a dynamic property of some systems optimization problem in the output space (as opposed to the [29]. Exploiting the differential flatness of the vehicle control space), which simplifies the problem. The traj ectory dynamics provides a much more effective and robust way and speed profile are parameterized to reduce the problem to to obtain the quasi-optimal trajectories on board. The a finite dimensional problem. To optimize the speed profile re