Minimum snap trajectory generation and control for quadrotors

We address the problem of generating smooth trajectories for a quadrotor unmanned aerial vehicle through a series of 3-D positions and headings. We describe a method for the design of optimal trajectories through a series of waypoints, by formulating the problem as a constrained polynomial optimization that minimizes the snap (the fourth derivative of position). We exploit the differential flatness of the quadrotor dynamics to develop a nonlinear controller that ensures exact tracking of the desired trajectories. Simulation and experimental results are presented showing the effectiveness of the method for aggressive flight.