マルチロータ機のための経路計画と動的平滑化
Path Planning Followed by Kinodynamic Smoothing for Multirotor Aerial Vehicles (MAVs)
RRT*を改良した適応的探索と複数経路生成に動的平滑化を組み合わせ、障害物を避けつつ機体の運動学的制約を満たす自律飛行経路を生成する手法を提案した。
著者: Geesara Kulathunga, Dmitry Devitt, Roman Fedorenko, Sergei Savin, Alexandr Klimchik
分類: cs.RO, cs.CV, math.OC
原文アブストラクト
We explore path planning followed by kinodynamic smoothing while ensuring the vehicle dynamics feasibility for MAVs. We have chosen a geometrically based motion planning technique \textquotedblleft RRT*\textquotedblright\; for this purpose. In the proposed technique, we modified original RRT* introducing an adaptive search space and a steering function which help to increase the consistency of the planner. Moreover, we propose multiple RRT* which generates a set of desired paths, provided that the optimal path is selected among them. Then, apply kinodynamic smoothing, which will result in dynamically feasible as well as obstacle-free path. Thereafter, a b spline-based trajectory is generated to maneuver vehicle autonomously in unknown environments. Finally, we have tested the proposed technique in various simulated environments.
