高速自律飛行のための堅牢で効率的なクアッドロータ軌道生成
Robust and Efficient Quadrotor Trajectory Generation for Fast Autonomous Flight
3次元複雑環境での高速飛行に向け、kinodynamic探索とBスプライン最適化を組み合わせたクアッドロータの軌道生成手法を提案し、シミュレーションと実機で有効性を検証した。
著者: Boyu Zhou, Fei Gao, Luqi Wang, Chuhao Liu, Shaojie Shen
分類: cs.RO
原文アブストラクト
In this paper, we propose a robust and efficient quadrotor motion planning system for fast flight in 3-D 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 (EDF) 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.
