Introducing an energy consumption optimization strategy in quadrotor UAV trajectory planning to extend its flight longevity can significantly improve its practicality and economy.To this end,this paper proposes an energy-optimized trajectory planning method based on the Segmented Gaussian Pseudospectral Method(SGPM).Firstly,a comprehensive kinematics-energy consumption model of a quadrotor UAV is constructed,which can quantitatively describe the coupling relationship between UAV kinematics and energy consumption.Secondly,based on this model,the trajectory planning problem considering energy consumption optimization is transformed into a continuous time optimization problem with constraints.Finally,SGPM is designed to obtain the optimized trajectory,in which the sliding selection of optimization sub-intervals effectively reduces the computation time in complicated flight missions with a large number of waypoints,and at the same time improves the smoothness of the trajectory and the accuracy of waypoint tracking.The simulation and experimental results show that:1)Compared with the conventional fixed-waypoint flight,the proposed method can significantly reduce the flight energy consumption;and 2)Compared with the commonly-used optimization algorithms,the proposed algorithm ensures the optimization effect of energy con-sumption with shorter computation time and higher waypoint tracking accuracy.
维普
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