Safe navigation of quadrotors with jerk limited trajectory

  • Shu-peng LaiEmail author
  • Meng-lu Lan
  • Ya-xuan Li
  • Ben M. Chen


Many aerial applications require unmanned aerial systems operate in safe zones because of the presence of obstacles or security regulations. It is a non-trivial task to generate a smooth trajectory satisfying both dynamic constraints and motion limits of the unmanned vehicles while being inside the safe zones. Then the task becomes even more challenging for real-time applications, for which computational efficiency is crucial. In this study, we present a safe flying corridor navigation method, which combines jerk limited trajectories with an efficient testing method to update the position setpoints in real time. Trajectories are generated online and incrementally with a cycle time smaller than 10 μs, which is exceptionally suitable for vehicles with limited onboard computational capability. Safe zones are represented with multiple interconnected bounding boxes which can be arbitrarily oriented. The jerk limited trajectory generation algorithm has been extended to cover the cases with asymmetrical motion limits. The proposed method has been successfully tested and verified in flight simulations and actual experiments.

Key words

Quadrotor Unmanned aerial vehicle Motion planning 

CLC number



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Copyright information

© Zhejiang University and Springer-Verlag GmbH Germany, part of Springer Nature 2019

Authors and Affiliations

  1. 1.Department of Electrical and Computer EngineeringNational University of SingaporeSingaporeSingapore
  2. 2.Graduate School for Integrative Science & EngineeringNational University of SingaporeSingaporeSingapore
  3. 3.School of Control Science and EngineeringShandong UniversityJinanChina
  4. 4.Department of Mechanical and Automation EngineeringChinese University of Hong KongHong KongChina

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