Generation of Dynamically Feasible Window Traversing Quadrotor Trajectories Using Logistic Curve

This work considers dynamically feasible point-to-point trajectory generation problem for a quadrotor flying through a constrained planner region referred as window (narrow gap). A four parameter logistic (4PL) curve is investigated as a prospective candidate and closed-form conditions are derived on the 4PL design parameters to satisfy the window traversability and vehicle dynamic feasibility constraints. A hierarchical approach first computes a dynamically feasible design parameter set for decoupled trajectory components and then obtains a solution set satisfying 3-D axis-coupled window traversability conditions. Numerical examples with a comparative study are presented to validate the analytical findings that highlight the quick computation of the dynamically feasible window traversing trajectories in complex window scenarios.

Automated summary

This work investigates the dynamically feasible point-to-point trajectory generation problem for a quadrotor flying through a constrained planner region known as a narrow gap. A four parameter logistic curve is considered as a potential candidate, and closed-form conditions are derived on the design parameters to satisfy the window traversability and vehicle dynamic feasibility constraints. A hierarchical approach is employed to compute a dynamically feasible design parameter set for decoupled trajectory components, and a solution set satisfying 3-D axis-coupled window traversability conditions is obtained. Numerical examples and comparative study validate the analytical findings, highlighting the quick computation of dynamically feasible window traversing trajectories in complex window scenarios.