@inproceedings{293cae0f81154b8b8b7e894b25e19f1d,
title = "Generation and Optimization of Robust Trajectory for Tilting Quadrotor",
abstract = "In this paper, a safe and reliable tilting quadrotor motion planning system is proposed which can ensure tilting quadrotor fly through the obstacles with constrained attitude and agile flight in complex experiments. The entire planning algorithm consists of the generation and optimization for spatial trajectory and attitude sequence. First, the spatial trajectory generation method is given. On the front-end, A* algorithm to find an initial path without colliding. In the back-end, the security and efficiency of the space trajectory is optioned using soft constraints based on B-spline. Then, the attitude sequence generation algorithm consists of the smooth and the energy dissipation function is put forward to optimize the attitude. Finally, by following the entire trajectory, the quadcopter can securely and efficiently navigate unique barriers. We verified the proposed algorithms served in the simulation experiments.",
keywords = "Attitude optimization, B-spline curve, Tilting quadrotor, Trajactory planning",
author = "Wei Zhang and Ruoqiao Guan and Kailun Cui and Junjie Gao and Fenghua He",
note = "Publisher Copyright: {\textcopyright} 2023, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.; International Conference on Guidance, Navigation and Control, ICGNC 2022 ; Conference date: 05-08-2022 Through 07-08-2022",
year = "2023",
doi = "10.1007/978-981-19-6613-2\_620",
language = "英语",
isbn = "9789811966125",
series = "Lecture Notes in Electrical Engineering",
publisher = "Springer Science and Business Media Deutschland GmbH",
pages = "6430--6439",
editor = "Liang Yan and Haibin Duan and Yimin Deng and Liang Yan",
booktitle = "Advances in Guidance, Navigation and Control - Proceedings of 2022 International Conference on Guidance, Navigation and Control",
address = "德国",
}