Fast full state trajectory generation for multirotors

Micro aerial vehicles, such as multirotors, are developed for applications like autonomous monitoring, inspection, and surveillance. Most of the current application scenarios assume a stationary environment and thus, trajectory generation relies on static targets. In this paper, we address time-optimal trajectory generation in dynamic environments, e.g., for landing on a moving platform. We extend our existing trajectory generation method by the ability to synchronize several axes of motion, following a master/slave approach for individual axes. We further explicitly treat moving targets, like moving landing platforms by planning in a target-centric frame. Our evaluation demonstrates the performance of the method under disturbances. These results have application in dynamic multicopter flight, and also allow for fast and precise multicopter motion under challenging conditions.