四轴轨迹规划-Minimum snap总结

引入最大速度限制。最大速度在时刻达到，即由所确定的最大速度值为：比较给定的最大速度与计算得到的速度，若，则满足最大速度限制要求，否则，按照最大速度限制重新计算可

MATLAB中的最小捕捉轨迹规划 该存储库包含MATLAB中的示例代码，用于在描述的最小捕捉轨迹规划。 本自述文件通过一些示例简要概述了我们的轨迹生成实用程序。 必需的 MATLAB（R2013a已测试） 怎么跑 2D空间中有4个演示代码，您可以直接运行它们并查看结果。 demo1：具有强大约束（等式约束）的航路点的最小捕捉轨迹规划。 DEMO2：最低搭扣，走廊约束（iequality约束）的轨迹规划。 demo3：最小捕捉轨迹规划，采用闭合形式解决方案，具有强大约束的航点。 demo4：带有引导路径的最小捕捉轨迹规划 执照 源代码是根据GPLv3许可发布的。 如有任何问题，请联系

minimum_snap matlab版本代码，路径规划和轨迹优化代码，包括corridor约束、snap约束

Abstract This thesis presents contributions to the state-of-the-art in quadrotor control, payload transportation with single and multiple quadrotors, and trajectory generation for single and multiple quadrotors. In Ch. 2 we describe a controller capable of handling large roll and pitch angles that enables a quadrotor to follow trajectories requiring large accelerations and also recover from extreme initial conditions. In Ch. 3 we describe a method that allows teams of quadrotors to work together to carry payloads that they could not carry individually. In Ch. 4 we discuss an online parameter estimation method for quadrotors transporting payloads which enables a quadrotor to use its dynamics in order to learn about the payload it is carrying and also adapt its control law in order to improve tracking performance. In Ch. 5 we present a trajectory generation method that enables quadrotors to fly through narrow gaps at various orientations and perch on inclined surfaces. Chapter 6 discusses a method for generating dynamically optimal trajectories through a series of predefined waypoints and safe corridors and Ch. 7 extends that method to enable heterogeneous quadrotor teams to quickly rearrange formations and avoid a small number of obstacles.

涉及机械臂的运动学分析以及轨迹规划，包含MATLAB机器人工具箱的应用