Optimización de trayectorias y estabilización LQR para robot aéreo omnidireccional

  1. del Río Berasategui, Josu 1
  2. Iriarte Arrese , Imanol 1
  3. Vilchez Hipolito, Litzia Carla 1
  4. Lasa Aguirrebengoa, Joseba 1
  5. Lazkano Ortega, Elena 2
  6. Rodriguez Rodriguez, Igor 2
  1. 1 Tecnalia, Basque Research and Technology Alliance (BRTA)
  2. 2 Universidad del Pa´ıs Vasco (UPV-EHU)
Revue:
Jornadas de Automática
  1. Cruz Martín, Ana María (coord.)
  2. Arévalo Espejo, V. (coord.)
  3. Fernández Lozano, Juan Jesús (coord.)

ISSN: 3045-4093

Année de publication: 2024

Número: 45

Type: Article

DOI: 10.17979/JA-CEA.2024.45.10816 DIALNET GOOGLE SCHOLAR lock_openAccès ouvert editor

Résumé

In this work, we address the path planning for an omnidirectional aerial robot. The drone’s architecture consists of 4 qua-drotors connected with omnidirectional joints to a central body, allowing the system to rotate 360º in all three axes while the quadrotors maintain stability. As an overactuated system, it can reach from position or state A to B through multiple rutes.Therefore, of the various possible routes, it is important to generate those that meet optimality criteria, thereby reducing system consumption. In this article, we propose a solution to generate trajectories that meet certain optimality criteria and satisfy system constraints. The problem is solved using the direct collocation optimization method, and the generated trajectory is subsequently used as input to a control loop that stabilizes along the trajectory using a finite-time LQR controller. The work was validated by simulations.

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