Multi-fidelity black-box optimization for time-optimal quadrotor maneuvers
Abstract
We consider the problem of generating a time-optimal quadrotor trajectory for highly maneuverable vehicles, such as quadrotor aircraft. The problem is challenging because the optimal trajectory is located on the boundary of the set of dynamically feasible trajectories. This boundary is hard to model as it involves limitations of the entire system, including complex aerodynamic and electromechanical phenomena, in agile high-speed flight. In this work, we propose a multi-fidelity Bayesian optimization framework that models the feasibility constraints based on analytical approximation, numerical simulation, and real-world flight experiments. By combining evaluations at different fidelities, trajectory time is optimized while the number of costly flight experiments is kept to a minimum. The algorithm is thoroughly evaluated for the trajectory generation problem in two different scenarios: (1) connecting predetermined waypoints; (2) planning in obstacle-rich environments. For each scenario, we conduct both simulation and real-world flight experiments at speeds up to 11 m/s. Resulting trajectories were found to be significantly faster than those obtained through minimum-snap trajectory planning.
Document Details
- Document Type
- Pub Defense Publication
- Publication Date
- Jul 29, 2021
- Source ID
- 10.1177/02783649211033317
Entities
People
- Ezra Tal
- Gilhyun Ryou
- Sertac Karaman
Organizations
- Massachusetts Institute of Technology
- Office of Naval Research