Time-Optimal Planning for Quadrotor Waypoint Flight
- URL: http://arxiv.org/abs/2108.04537v1
- Date: Tue, 10 Aug 2021 09:26:43 GMT
- Title: Time-Optimal Planning for Quadrotor Waypoint Flight
- Authors: Philipp Foehn, Angel Romero, Davide Scaramuzza
- Abstract summary: Planning time-optimal trajectories at the actuation limit of a quadrotor is an open problem.
We propose a solution while exploiting the full quadrotor's actuator potential.
We validate our method in real-world flights in one of the world's largest motion-capture systems.
- Score: 50.016821506107455
- License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/
- Abstract: Quadrotors are among the most agile flying robots. However, planning
time-optimal trajectories at the actuation limit through multiple waypoints
remains an open problem. This is crucial for applications such as inspection,
delivery, search and rescue, and drone racing. Early works used polynomial
trajectory formulations, which do not exploit the full actuator potential
because of their inherent smoothness. Recent works resorted to numerical
optimization but require waypoints to be allocated as costs or constraints at
specific discrete times. However, this time allocation is a priori unknown and
renders previous works incapable of producing truly time-optimal trajectories.
To generate truly time-optimal trajectories, we propose a solution to the time
allocation problem while exploiting the full quadrotor's actuator potential. We
achieve this by introducing a formulation of progress along the trajectory,
which enables the simultaneous optimization of the time allocation and the
trajectory itself. We compare our method against related approaches and
validate it in real-world flights in one of the world's largest motion-capture
systems, where we outperform human expert drone pilots in a drone-racing task.
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