Battery-Aware Predictive Trajectory Planning and Control for Multirotors Under Disturbances

RESUMO

This paper presents a battery-aware predictive trajectory-planning and control framework for multirotors operating under spatially localized disturbances. Candidate trajectories are evaluated through closed-loop vehicle--motor--battery propagation, allowing disturbance-induced control demand, electrical energy, battery evolution, and terminal-voltage-dependent actuator capability to enter the planning process. % A reduced-order battery model is numerically benchmarked against an independently implemented Simscape equivalent-circuit reference, with a power NRMSE of $0.64\%$ and a cumulative-energy discrepancy below $0.7\%$. % In a $150$-s, $640$-m mission containing three disturbance regions, the selected trajectory reduces electrical energy consumption by $7.46\%$ and position-tracking RMSE by approximately $72\%$ relative to the disturbance-aware fixed-reference baseline. % Planner ablations show that battery-dependent terms are nonbinding at nominal SOC but alter the selected trajectory under a depleted-battery stress condition. % Execution with multiple feedback controllers further demonstrates that controller selection changes the tradeoff among tracking accuracy, energy consumption, and actuator utilization. % The results demonstrate the benefit of accounting for predicted closed-loop energetic and battery--actuator consequences during trajectory selection.