Volume 10, Issue 3
Quadrotor Convergence Trajectory Optimization Model Based on Minimum Energy Consumption

Biao Zhang, Peng Xiao, Hongliang Liu, Mingyue Ma, Qian Wang & Zhi Mao

Adv. Appl. Math. Mech., 10 (2018), pp. 673-689.

Published online: 2018-10

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  • 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.

  • Keywords

Quadrotor, convergence trajectory, energy, trajectory planning.

  • AMS Subject Headings

65K05, 65C20

  • Copyright

COPYRIGHT: © Global Science Press

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@Article{AAMM-10-673, author = {}, title = {Quadrotor Convergence Trajectory Optimization Model Based on Minimum Energy Consumption}, journal = {Advances in Applied Mathematics and Mechanics}, year = {2018}, volume = {10}, number = {3}, pages = {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.}, issn = {2075-1354}, doi = {https://doi.org/10.4208/aamm.OA-2017-0059}, url = {http://global-sci.org/intro/article_detail/aamm/12230.html} }
TY - JOUR T1 - Quadrotor Convergence Trajectory Optimization Model Based on Minimum Energy Consumption JO - Advances in Applied Mathematics and Mechanics VL - 3 SP - 673 EP - 689 PY - 2018 DA - 2018/10 SN - 10 DO - http://dor.org/10.4208/aamm.OA-2017-0059 UR - https://global-sci.org/intro/aamm/12230.html KW - Quadrotor, convergence trajectory, energy, trajectory planning. AB - 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.
Biao Zhang, Peng Xiao, Hongliang Liu, Mingyue Ma, Qian Wang & Zhi Mao. (2020). Quadrotor Convergence Trajectory Optimization Model Based on Minimum Energy Consumption. Advances in Applied Mathematics and Mechanics. 10 (3). 673-689. doi:10.4208/aamm.OA-2017-0059
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