Work

Energy-Efficient Trajectory Planning with B-Splines and the Schoenberg Quasi-Interpolant

Year: 2024

Type: conference-paper

Abstract: Few studies address the challenge of minimizing energy consumption during trajectory generation, particularly in the context of multicopter dynamics, characterized by strong non-linearity. This paper introduces a novel approach by formulating energy consumption as a function of $\mathbf{B}$-splines control points, enabling comprehensive optimization of total energy expenditure throughout the trajectory. To mitigate the complexity of representation, we leverage the Schoenberg quasi-interpolant, which not only facilitates the solution of the optimization problem but also effectively reduces computational overhead. The approach is validated through two distinct scenarios: a conventional trajectory used in precision agriculture, and a scenario involving more aggressive maneuvers.

Source: Proceedings of the IEEE Conference on Decision & Control, including the Symposium on Adaptive Processes

DOI: 10.1109/cdc56724.2024.10886501

Authors: Vincent Marguet, Florin Stoican, Ionela Prodan

Institutions: Institut polytechnique de Grenoble, Laboratoire de Conception et d'Intégration des Systèmes, Université Grenoble Alpes, Universitatea Națională de Știință și Tehnologie Politehnica București

Language: English

Topic: Robotic Path Planning Algorithms

Subfield: Computer Vision and Pattern Recognition

Field: Computer Science

Domain: Physical Sciences

SDG: Affordable and clean energy

Open Access status: green

Funder: Agence Nationale de la Recherche