Robust and Efficient Quadrotor Trajectory Generation for Fast Autonomous Flight

• Published in: IEEE robotics and automation letters Vol. 4; no. 4; pp. 3529 - 3536
• Main Authors: Zhou, Boyu, Gao, Fei, Wang, Luqi, Liu, Chuhao, Shen, Shaojie
• Format: Journal Article
• Language: English
• Published: Piscataway IEEE 01.10.2019; The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
• Subjects: aerial systems: perception and autonomy; Aerospace electronics; collision avoidance; Convexity; Dynamics; Euclidean geometry; Hulls; Motion and path planning; Motion planning; Optimization; Resource management; Robotics; Safety; Smoothness; Splines (mathematics); Trajectory; Trajectory control; Trajectory optimization

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 im...