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This paper describes an integrated path planning and tracking control framework for autonomous verticaltake-o -and-landing (VTOL) vehicles, specially a quadrotor. The path planning adopts a receding horizon strategy to repeatedly plan a local trajectory that satisfies the vehicle dynamics and obstacle avoidance requirement. A tracking controller is then designed to track the optimised path. The di erential flatness property of the quadrotor is exploited in both path planner and tracking controller designs. The proposed framework is verified by simulations and the flight test using an AscTec Hummingbird quadrotor is also under preparation.

A practical receding horizon control framework for path planning and control of autonomous vtol vehicles