6자유도 쿼드로터 정밀 착륙을 위한 자세-인식 Second-Order Conic 제약 궤적 최적화

초록

This paper presents a trajectory optimization framework for six-degree-of-freedom (6-DOF) quadrotor precision landing that employs second-order cone (SOC) constraints to guarantee safe and physically realizable flight trajectories. Precision landing in confined or cluttered environments requires adherence to strict geometric and actuator feasibility conditions, such as maintaining approach angles within a landing cone and limiting thrust vector tilts defined by the fixed-motor configuration. However, directly embedding these nonlinear constraints into trajectory optimization remains challenging, as traditional inequality relaxations often degrade accuracy or increase computational burden. To address this, we develop a quaternion-based SOC-constrained trajectory optimization framework that explicitly enforces both a landing-cone constraint for safe approach geometry and a thrust-tilt constraint for actuator feasibility, solved efficiently using interior-point methods. Extensive simulation and hardware experiments with a Crazyflie 2.1 quadrotor equipped with Lighthouse positioning validate the proposed approach, demonstrating reliable precision landings and robust recovery from large initial attitude deviations. The results underscore the importance of explicit SOC constraint enforcement for achieving safe and autonomous quadrotor landing operations.

키워드