Flatness-Based Quadcopter Trajectory Planning and Tracking With Continuous-Time Safety Guarantees

This work proposes a convex optimization-based framework for the trajectory planning and tracking of quadcopters that ensures continuous-time safety guarantees. Using convexity property B-spline curves differential flatness quadcopters, second-order cone program is formulated to generate an optimal nominal respects state input constraints, including position, linear velocity, angle, angular thrust, waypoints, obstacle avoidance rigorously in sense. To ensure safe tracking, quadratic proposed based on control barrier functions, which guarantees actual quadcopter remains within prescribed tube continuous time. Furthermore, conditions controller roll, pitch constraints are also presented. Both approaches suitable online implementation, effectiveness demonstrated through simulations experiments with Crazyflie2.1 nano quadcopter.