Trajectory optimization of quadrotor uav based on Bessel curve

Aiming at the problem that there could be a lot of non-differentiable points in the displacement, velocity and acceleration functions of the trajectory generated in the path planning of Four-rotor UAV, an optimization method based on Bessel curve's minimum and high-order displacement derivative trajectory is proposed. Firstly, the trajectory is optimized by the method of minimum displacement derivative, which provides input for the Four-rotor position loop controller. Secondly, the Bessel curve is introduced to the optimization function. By discussing the flight constraints of the Four-rotor UAV, the trajectory is transformed into a convex quadratic programming problem and solved by the interior point method. Finally, the trajectory is created by using the fast marching algorithm to optimize the simulation before and after. The simulation results show that the optimized trajectory is continuous and differentiable, which solves the problem of energy loss during flight.