Implementation and comparison of trajectory planning strategies for quadcopters
Fast online trajectory planning is an active research topic and central component of many robotic systems. It connects high level concepts such as motion planning to the underlying hardware and its controllers. Given the current state (pose, velocity, acceleration, jerk) of the quadcopter and a desired target state the trajectory planner calculates an optimal sequence of inputs and intermediate states to reach the target e.g. in minimal time.
Multiple strategies exist to solve the trajectory planning problem while taking into account additional constraints such as obstacles and physical constraints of the robot.
The goal of the thesis is to implement one or multiple strategies for trajectory and/or motion planning and compare the performance to the currently implemented strategy and the results reported in the literature.
Mueller, Mark W., Markus Hehn, and Raffaello D'Andrea. "A computationally efficient motion primitive for quadrocopter trajectory generation." IEEE transactions on robotics 31.6 (2015): 1294-1310.
Loianno, Giuseppe, et al. "Estimation, control, and planning for aggressive flight with a small quadrotor with a single camera and IMU." IEEE Robotics and Automation Letters 2.2 (2017): 404-411.