THREE-DIMENSIONAL MANIPULATION OF TEAMS OF QUADROTORS

摘要

A system and method is described for controlling flight trajectories of at least two flying vehicles towards goal positions. The system includes at least two flying vehicles with onboard inertial measurement units for determining and updating orientation, angular velocities, position and linear velocities of the at least two flying vehicles, a motion capture system to detect current position and velocity of each of the at least two flying vehicles, and a base controller in communication with the motion capture system and in communication with the plurality of flying vehicles. The base controller calculates for each of the flying vehicles, at predetermined intervals of time, optimum trajectory paths using piece-wise smooth polynomial functions, applying weighting factors, and enforcing overlap constraints.

主权项

1. A trajectory generation method for controlling states of at least two flying vehicles towards goal positions and orientations, the method comprising the steps of:
determining orientation and angular velocities of the flying vehicles; controlling the orientation and angular velocities of the flying vehicles by controlling at least one motor of the flying vehicles; determining current position and velocity of each of the flying vehicles; controlling the position and velocity of each of the flying vehicles by specifying the desired orientation and angular velocities and the net thrust required from the at least one motor; calculating for each of the flying vehicles, at predetermined intervals of time, optimum trajectory paths by using piece-wise smooth polynomial functions, applying weighting factors and enforcing overlap constraints; based on the calculated optimum trajectory paths, sending commands to each of the flying vehicles to control, individually, their state, causing such flying vehicles to follow the calculated optimum trajectory path while avoiding collisions; and updating current position and velocity of each of the flying vehicles.