A method for generating multi-rotor UAV flight trajectories based on second-order cone programming
A multi-rotor UAV, second-order cone planning technology, applied in the direction of instruments, three-dimensional position/course control, control/regulation system, etc.
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[0078] This embodiment discloses a method for generating a flight trajectory of a multi-rotor UAV based on second-order cone programming. The specific implementation steps are as follows:
[0079] Step 1: Input multi-rotor UAV parameter information, trajectory constraint information, task environment information and algorithm parameter information.
[0080] Set the mass of the drone to 1.5kg, the maximum thrust to 30N, the maximum allowable tilt angle to 20°, and the initial position to be (10m, 3m, 20m) T , the initial velocity is (0m / s,0m / s,0m / s) T , the target position is (80m, 40m, 30m) T , the target velocity is (0,0,0) T , the initial time of the UAV is 0s, the terminal time is 10s, and the lower boundary of the position is (0m, 0m, 0m) T , the position upper boundary is (100m, 50m, 100m) T , the speed lower boundary is (-20m / s,-20m / s,-4m / s) T , the upper boundary of the speed is (20m / s, 20m / s, 4m / s) T . The environment contains 4 obstacles, and their positions ar...
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