Primitive-Planner: 時間最適プリミティブを用いた超軽量クアッドロータプランナ
Primitive-Planner: An Ultra Lightweight Quadrotor Planner with Time-optimal Primitives
時間最適で動的に実行可能な軌道をオフライン生成するプリミティブライブラリと、サンプリング解像度に依存しない高速衝突判定を組み合わせ、計算負荷を抑えつつ高品質な軌道を計画する超軽量クアッドロータプランナを提案した。
著者: Jialiang Hou, Neng Pan, Zhepei Wang, Jialin Ji, Yuxiang Guan, Zhongxue Gan, Fei Gao
分類: cs.RO
原文アブストラクト
It is a significant requirement for a quadrotor trajectory planner to simultaneously guarantee trajectory quality and system lightweight. Many researchers focus on this problem, but there's still a gap between their performance and our common wish. In this paper, we propose an ultra lightweight quadrotor planner with time-optimal primitives. Firstly, a novel motion primitive library is proposed to generate time-optimal and dynamical feasible trajectories offline. Secondly, we propose a fast collision checking method with a deterministic time consumption, independent of the sampling resolution of the primitives. Finally, we select the minimum cost trajectory to execute among the safe primitives based on user-defined requirements. The propsed transformation relation between the local trajectories ensures the smoothness of the global trajectory. The planner reduces unnecessary online computing power consumption as much as possible, while ensuring a high-quality trajectory. Benchmark comparisons show that our method can generate the shortest flight time and distance of trajectory with the lowest computation overload. Challenging real-world experiments validate the robustness of our method.
