Time-Continuous Real-Time Trajectory Generation for Safe Autonomous Flight of a Quadrotor in Unknown Environment

Applied Sciences

Yonghee Park¹  Hyungpil Moon²  Woosung Kim² 

[1] Artificial Intelligence Research, Hyundai-Autoever, Seoul 06176, Korea;Department of Mechanical Engineering, Sungkyunkwan University, Suwon 16419, Korea;

关键词: quadrotor;    trajectory generation;    replanning;   

DOI  :  10.3390/app11073238

来源: DOAJ

【 摘 要 】

In this paper, we present an efficient global and local replanning method for a quadrotor to complete a flight mission in a cluttered and unmapped environment. A minimum-snap global path planner generates a global trajectory that comprises some waypoints in a cluttered environment. When facing unexpected obstacles, our method modifies the global trajectory using geometrical planning and closed-form formulation for an analytical solution with 9th-order polynomial. The proposed method provides an analytical solution, not a numerical one, and it is computationally efficient without falling into a local minima problem. In a simulation, we show that the proposed method can fly a quadrotor faster than the numerical method in a cluttered environment. Furthermore, we show in experiments that the proposed method can provide safer and faster trajectory generation than the numerical method in a real environment.

【 授权许可】

Unknown