3D path planning of quadrotor aerial robots using numerical optimization

Quadrotor is a nonlinear, multi-variable, highly coupled and under-actuated system. Based on the self-assemble quadrotor, we propose a novel three dimension path planning algorithm. Using the hierarchy control method, we first map the state space to the augment inputs, and then map the actual inputs to the augmented inputs, so that the path planning problem can be simplified and the algorithm can be more efficient. The path planning algorithm is based on the optimal control theory, taking the obstacle avoidance, energy cost and time into consideration. Due to its use of nonlinear programming techniques, effective initial guesses and fast numerical optimization techniques, this algorithm if efficient enough to be used in real time. We demonstrate the efficiency of this algorithm via numerical simulation results.