Year: 2018
Author: Biao Zhang, Peng Xiao, Hongliang Liu, Mingyue Ma, Qian Wang, Zhi Mao
Advances in Applied Mathematics and Mechanics, Vol. 10 (2018), Iss. 3 : pp. 673–689
Abstract
Energy consumption is an important challenge to planning path of quadrotor and the energy-calculating of quadrotor flight trajecotry is not yet fully completed. This paper mainly researches on optimizing the convergence trajectory of the quadrotor on energy-saving. Firstly, the equivalence between the lift angular accelerated function and the flight trajectory function is proved. Then, the energy-calculating formula of quadrotor flight trajectory is obtained by using the relationship between lift and voltage. Furthermore, the quadrotor convergence trajectory model is established with the goal of minimum energy consumption. Finally, through the numerical simulation, the optimized convergence trajectories under different boundary conditions are obtained. Moreover, the specific flight position in real time can be got and implemented into the real-time flight trajectory planning.
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Journal Article Details
Publisher Name: Global Science Press
Language: English
DOI: https://doi.org/10.4208/aamm.OA-2017-0059
Advances in Applied Mathematics and Mechanics, Vol. 10 (2018), Iss. 3 : pp. 673–689
Published online: 2018-01
AMS Subject Headings: Global Science Press
Copyright: COPYRIGHT: © Global Science Press
Pages: 17
Keywords: Quadrotor convergence trajectory energy trajectory planning.
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