期刊
IEEE ROBOTICS AND AUTOMATION LETTERS
卷 4, 期 4, 页码 3529-3536出版社
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/LRA.2019.2927938
关键词
Motion and path planning; aerial systems: perception and autonomy; collision avoidance
类别
资金
- HKUST Institutional Fund
In this letter, we propose a robust and efficient quadrotor motion planning system for fast flight in three-dimensional complex environments. We adopt a kinodynamic path searching method to find a safe, kinodynamic feasible, and minimum-time initial trajectory in the discretized control space. We improve the smoothness and clearance of the trajectory by a B-spline optimization, which incorporates gradient information from a Euclidean distance field and dynamic constraints efficiently utilizing the convex hull property of B-spline. Finally, by representing the final trajectory as a non-uniform B-spline, an iterative time adjustment method is adopted to guarantee dynamically feasible and non-conservative trajectories. We validate our proposed method in various complex simulational environments. The competence of the method is also validated in challenging real-world tasks. We release our code as an open-source package.(1)
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