# American Institute of Mathematical Sciences

May  2022, 18(3): 2221-2235. doi: 10.3934/jimo.2021063

## Design of path planning and tracking control of quadrotor

 School of Automation Engineering, University of Electronic Science and Technology of China, Chengdu 611731, China

* Corresponding author: Rui Li (lirui@uestc.edu.cn)

Received  December 2020 Revised  January 2021 Published  May 2022 Early access  March 2021

Fund Project: This work is supported in part by the National Natural Science Foundation of China under grant (No. 61973055), the Fundamental Research Funds for the Central Universities (No. ZYGX2019J062) and a grant from the applied basic research programs of Sichuan province (No. 2019YJ0206)

In this paper, we first design a motion planning system based on the Batch Informed Trees (BIT*) algorithm for quadrotor and a linear model predictive control (LMPC) is applied to solve the path tracking problem for a quadrotor. BIT* algorithm is used to plan a barrier-free trajectory quickly in an obstructed environment. Then we apply linear model predictive control for the full state quadrotor system model to track the generated trajectory. Finally, the BIT* algorithm simulation case is presented using RVIZ visual interface and some simulation cases are presented using MATLAB / Simulink. The results demonstrate the capability and the effectiveness of the control strategy in fast path tracking and the quadrotor stability, while the desired performance is achieved.

Citation: Yi Gao, Rui Li, Yingjing Shi, Li Xiao. Design of path planning and tracking control of quadrotor. Journal of Industrial and Management Optimization, 2022, 18 (3) : 2221-2235. doi: 10.3934/jimo.2021063
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##### References:
The system structure diagram
The earth-fixed inertial and body-fixed frames of a quadcopter
Path planning module test result
Reference trajectory
Path tracking of $x(t)$
Path tracking of $y(t)$