M.A. Abitha and Abdul Saleem
Trajectory planning, quadrotor, self-regulating particle swarm optimisation, obstacle avoidance
Many quadrotor applications, especially in the civilian sector, need flight in a densely populated lower atmospheric zone. To achieve a smooth and secure flight, the quadrotor’s trajectory must be carefully planned. An effective solution for a safe quadrotor flight can be achieved using an optimal trajectory planning method that takes the safe flight constraints into consideration. This paper provides a modified particle swarm optimisation-based quadrotor aircraft trajectory planner. With the least amount of control input, the proposed method lets the plane go the shortest distance and stay on a safe flight path. The improved self-regulating particle swarm optimisation method then populates itself with the original minimal snap trajectory. With the help of MATLAB and Simulink, flight simulation tests are conducted in two- and three-dimensional spaces, in both static and dynamic environments, and compared to traditional rapid random tree trajectory planning. The results suggest that the proposed method can give quadrotors a smooth, short-distance flight path that lets them finish their missions quickly.
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