Robust and Efficient Quadrotor Trajectory Generation for Fast Autonomous Flight¶
Authors: Boyu Zhou, Fei Gao, Luqi Wang, Chuhao Liu, Shaojie Shen
Published: 2019 (Journal Paper)
Source: IEEE Robotics and Automation Letters
DOI: 10.1109/LRA.2019.2927938
Summary¶
Abstract¶
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.11Open-source implementation is available at https://github.com/HKUST-Aerial-Robotics/Fast-Planner.