Quadrotor Trajectory Generation in Dynamic Complex Environments
作者单位：School of AutomationBeijing Institute of Technology
会议名称：《第43届中国控制会议》
会议日期：1000年
学科分类：08[工学] 081105[工学-导航、制导与控制] 0835[工学-软件工程] 0802[工学-机械工程] 0811[工学-控制科学与工程] 080201[工学-机械制造及其自动化]
基 金：supported in part by the National Outstanding Youth Talents Support Program 61822304 in part by the Basic Science Center Programs of NSFC under Grant 62088101 in part by Beijing Advanced Innovation Center for Intelligent Robots and Systems in part by Shanghai Municipal Science and Technology Major Project (2021SHZDZX0100) in part by Shanghai Municipal Commission of Science and Technology Project (19511132101)
关 键 词：Motion planning Velocity obstacle Aerial robotics
摘 要：Recent advances in trajectory replanning have enabled quadrotors to navigate autonomously in static complex ***,navigation in dynamic environments still remains a significant *** this paper,we present a trajectory planner that generates collision-free trajectories in environments with static and dynamic obstacles.A velocity obstacle(VO)based gradient field,called gradient velocity obstacle(GVO),is proposed to solve dynamic *** main improvement is that GVO maintains the original feasible set while ensuring computational *** the output of GVO as an initial guess,a trajectory parameterized by a uniform b-spline is derived to avoid static *** sets of comparative experiments show the validness and effectiveness of the proposed method.