Probabilistic RRT Path Planning Approach Integrated with Optimal and Non-Linear Control Network

Abstract

This work proposes Non linear Modeling and motion controlling of quadrotor because Due to recent technological achievements, modeling and simulation of Unmanned Aerial Vehicles (UAVs) such as Quadrotor contracted a great potential. In this paper, the Improved Double-Integral Sliding mode controller (IDI-SMC) scheme is presented to cope with the problem like chattering and tracking. Underactuated six Degree Of Freedom (DOF) Quadrotor model is formulated through Newton-Euler-Lagrange (NEL) equations. The idea of design (IDI-SMC) is to implement Double Sliding Mode control with proper coefficient scheduling for switching surface with Hurwitz stability criteria. In the second part (Rapidly growing Random Tree) RRT*algorithm which is used for optimal path planning in cluttered environment has been implemented for navigation and flight control of Quadrotor system model. Furthermore, introducing the strong condition of the sliding surface made the result and Simulation more efficient with Hurwitz stability for both translational and rotational motion of the 6 DOF Quadrotor system is achieved. Motion Planning successfully achieved through proposed RRT* algorithm which shows the effectiveness of the proposed design controller. Both Trajectory planning and controller design have been implemented in MAT LAB − SIMULINK environment.