TY - GEN
T1 - A Hybrid Method for Online Safe Trajectory Generation in Quadrotor Flight
AU - Ding, Yu
AU - Zhang, Fubiao
AU - Lin, Defu
AU - Liu, Mingcheng
N1 - Publisher Copyright:
© 2023, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.
PY - 2023
Y1 - 2023
N2 - In this paper, we propose a safe and efficient online trajectory generation method for quadrotors. This algorithm combines the sample-based motion planning method with the time-constrained trajectory optimization method. Based on the linearized state-space model of the quadrotor, we use the ellipsoid heuristic to directly sample the map and consider reasonable energy loss and completion time under the motion constraints, and construct a smooth and feasible initial trajectory for obstacle avoidance through multiple iteration optimization strategies. By using B-spline trajectory optimization and convex hull property, we minimize the loss of smoothing term, collision term, and dynamic feasible term to ensure fast and safe trajectory generation online. The proposed method is verified by numerical experiments, and compared with the classical RRT* algorithm and Kinodynamic RRT* algorithm, it is proved that the proposed method can generate feasible quadrotor trajectories at a faster speed.
AB - In this paper, we propose a safe and efficient online trajectory generation method for quadrotors. This algorithm combines the sample-based motion planning method with the time-constrained trajectory optimization method. Based on the linearized state-space model of the quadrotor, we use the ellipsoid heuristic to directly sample the map and consider reasonable energy loss and completion time under the motion constraints, and construct a smooth and feasible initial trajectory for obstacle avoidance through multiple iteration optimization strategies. By using B-spline trajectory optimization and convex hull property, we minimize the loss of smoothing term, collision term, and dynamic feasible term to ensure fast and safe trajectory generation online. The proposed method is verified by numerical experiments, and compared with the classical RRT* algorithm and Kinodynamic RRT* algorithm, it is proved that the proposed method can generate feasible quadrotor trajectories at a faster speed.
KW - Obstacle avoidance
KW - Trajectory planning
KW - Unmanned aerial vehicle
UR - http://www.scopus.com/inward/record.url?scp=85151152379&partnerID=8YFLogxK
U2 - 10.1007/978-981-19-6613-2_203
DO - 10.1007/978-981-19-6613-2_203
M3 - Conference contribution
AN - SCOPUS:85151152379
SN - 9789811966125
T3 - Lecture Notes in Electrical Engineering
SP - 2073
EP - 2084
BT - Advances in Guidance, Navigation and Control - Proceedings of 2022 International Conference on Guidance, Navigation and Control
A2 - Yan, Liang
A2 - Duan, Haibin
A2 - Deng, Yimin
A2 - Yan, Liang
PB - Springer Science and Business Media Deutschland GmbH
T2 - International Conference on Guidance, Navigation and Control, ICGNC 2022
Y2 - 5 August 2022 through 7 August 2022
ER -