Research on Trajectory Optimization of Quadrotor Flighting through Narrow Gap

Aiming at the problem of quadrotors flighting through narrow gaps, applying imitation learning technology, this paper proposes an optimization scheme that combines path planning and attitude adjustment. After recalculating the traverse trajectory in real time, the approach trajectory is re-planned and the attitude is adjusted to optimize the trajectory. This scheme can realize that the quadrotor traverse the gap with any positions and attitudes quickly, and solve the problem caused by gap loss, attitude changed significantly and traverse attitude difficult to reach, which obviously reduces the difficulty of subsequent control.