Bスプライン探索と弾性最適化によるクアッドロータの軌道再計画
Trajectory Replanning for Quadrotors Using Kinodynamic Search and Elastic Optimization
Bスプラインの性質を活かした実時間キノダイナミック探索と弾性最適化を組み合わせ、動的な初期状態にも対応するクアッドロータの軌道再計画手法を提案し、機上で実証した。
著者: Wenchao Ding, Wenliang Gao, Kaixuan Wang, Shaojie Shen
分類: cs.RO
原文アブストラクト
We focus on a replanning scenario for quadrotors where considering time efficiency, non-static initial state and dynamical feasibility is of great significance. We propose a real-time B-spline based kinodynamic (RBK) search algorithm, which transforms a position-only shortest path search (such as A* and Dijkstra) into an efficient kinodynamic search, by exploring the properties of B-spline parameterization. The RBK search is greedy and produces a dynamically feasible time-parameterized trajectory efficiently, which facilitates non-static initial state of the quadrotor. To cope with the limitation of the greedy search and the discretization induced by a grid structure, we adopt an elastic optimization (EO) approach as a post-optimization process, to refine the control point placement provided by the RBK search. The EO approach finds the optimal control point placement inside an expanded elastic tube which represents the free space, by solving a Quadratically Constrained Quadratic Programming (QCQP) problem. We design a receding horizon replanner based on the local control property of B-spline. A systematic comparison of our method against two state-of-the-art methods is provided. We integrate our replanning system with a monocular vision-based quadrotor and validate our performance onboard.
