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Efficient and Safe Motion Planning for Quadrotors Based on Unconstrained Quadratic Programming

Published online by Cambridge University Press:  19 June 2020

Yanhui Li Open the ORCID record for Yanhui Li [Opens in a new window]  and
Chao Liu Open the ORCID record for Chao Liu [Opens in a new window]
Yanhui Li*
Affiliation:
Key Laboratory of Dynamics and Control of Flight Vehicle, Ministry of Education, School of Aerospace Engineering, Beijing Institute of Technology, Beijing, 100081, P.R. China
Chao Liu
Affiliation:
Key Laboratory of Dynamics and Control of Flight Vehicle, Ministry of Education, School of Aerospace Engineering, Beijing Institute of Technology, Beijing, 100081, P.R. China
*
*Corresponding author. E-mail: liyanhui8711@sina.com
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Summary

An autonomous motion planning framework is proposed, consisting of path planning and trajectory generation. Primarily, a spacious preferred probabilistic roadmap algorithm is utilized to search a safe and short path, considering kinematics and threats from obstacles. Subsequently, a minimum-snap and position-clearance polynomial trajectory problem is transformed into an unconstrained quadratic programming and solved in a two-step optimization. Finally, comparisons with other methods based on statistical simulations are implemented. The results show that the proposed method achieves computational efficiency and a safe trajectory.

Keywords

Path planningTrajectory generationProbabilistic roadmapTwo-step optimization

Information

Type
Articles
Information
Robotica , Volume 39 , Issue 2 , February 2021 , pp. 317 - 333
Copyright
Copyright © The Author(s), 2020. Published by Cambridge University Press

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