Trajectory Planning and Tracking for Multi-quadcopter in Dynamic Obstacle Environments

Authors

Haosheng Jiang, School of Mechano-Electronic Engineering, Xidian University, Xi'an 710071, China
Fangfang Wu, School of Mechano-Electronic Engineering, Xidian University, Xi'an 710071, China
Zexian Huang, School of Mechano-Electronic Engineering, Xidian University, Xi'an 710071, China
Ziyue Ma, School of Mechano-Electronic Engineering, Xidian University, Xi'an 710071, China
Chunyun Dong, School of Mechano-Electronic Engineering, Xidian University, Xi'an 710071, China
Xubin Ping, School of Mechano-Electronic Engineering, Xidian University, Xi'an 710071, China

Abstract

Abstract: Multi-quadrotor UAV systems face challenges when performing complex tasks in dynamic obstacle environments. Therefore, a comprehensive particle swarm optimization-based task allocation method, a trajectory planning integrating the traditional Informed-RRT* and A* algorithms, and a trajectory tracking method based on model predictive control were designed. The multi-quadrotor task allocation problem was constructed as a classical multiple traveling salesman problem, and then, the particle swarm optimization was used to assign the task to multi-quadrotor UAVs. A fusion algorithm that combined the advantages of traditional Informed-RRT* and A* algorithms for quadrotor UAV trajectory planning was designed, so as to ensure that a safe and effective trajectory was planned for each UAV of the multiquadrotor UAV system in dynamic obstacle environments. The tracking controller was designed using the model predictive control approach to ensure that the quadcopter UAV can accurately track the online planning trajectories in real time and avoid collisions with dynamic obstacles. The simulation experiments verify the effectiveness of the proposed method.

Recommended Citation

Jiang, Haosheng; Wu, Fangfang; Huang, Zexian; Ma, Ziyue; Dong, Chunyun; and Ping, Xubin (2025) "Trajectory Planning and Tracking for Multi-quadcopter in Dynamic Obstacle Environments," Journal of System Simulation: Vol. 37: Iss. 8, Article 15.
DOI: 10.16182/j.issn1004731x.joss.24-0893
Available at: https://dc-china-simulation.researchcommons.org/journal/vol37/iss8/15

First Page

2089

Last Page

2102

CLC

TP391.9

Recommended Citation

Jiang Haosheng, Wu Fangfang, Huang Zexian, et al. Trajectory Planning and Tracking for Multiquadcopter in Dynamic Obstacle Environments[J]. Journal of System Simulation, 2025, 37(8): 2089-2102.

Corresponding Author

Ping Xubin

DOI

10.16182/j.issn1004731x.joss.24-0893