Trajectory Planning for Multi-rotor UAV Based on Energy Cost Model

作者：Kunpeng Wu, Minling Feng, Chaoxian Wu, Yuan Lin, Shaofeng Lu · 发表于：2022 41st Chinese Control Conference (CCC) · 年份：2022 · DOI：10.23919/ccc55666.2022.9902793 · 被引用次数：4 · 研究领域：UAV Applications and Optimization、Robotic Path Planning Algorithms、Air Traffic Management and Optimization

The application of Unmanned Aerial Vehicle (UAV) in many fields is inseparable from trajectory planning. Due to the characteristic of low energy load of UAV, it is important to take some measures to plan the use of energy. This paper proposed a method to plan the optimal trajectory with minimum energy cost. Based on helicopter dynamics, we derived the energy-cost equations of vertical and horizontal flight of UAV to calculate the energy consumption of the determined speed trajectory. We adopted a time-based method to model the trajectory planning problem as a convex optimization problem. Numerical experiments showed the effectiveness and efficiency of the proposed method. The proposed model would contribute to various fields related to UAV trajectory planning and on-board energy management from a viewpoint of energy saving and range extension.