A safe trajectory generation method for quadrotor flight in three-dimension dense environments is proposed in this letter. We propose a path search algorithm called Safe A* to search a safe, collision-free initial path in cluttered environments. Subsequently, a safe and smooth trajectory with minimum snap is obtained by solving a quadratic problem in closed form. Our method is tested in various simulations, results turn out that our method can significantly increase the success rate of trajectory generation, and generate a safer trajectory as compared to the standard A* algorithm.


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    Titel :

    Safe Polynomial Trajectory Generation for Quadrotor Flight in Dense Environments


    Weitere Titelangaben:

    Lect. Notes Electrical Eng.


    Beteiligte:
    Yan, Liang (Herausgeber:in) / Duan, Haibin (Herausgeber:in) / Yu, Xiang (Herausgeber:in) / Wu, Zhenping (Autor:in) / Meng, Zhijun (Autor:in) / Wu, Zhe (Autor:in)


    Erscheinungsdatum :

    30.10.2021


    Format / Umfang :

    8 pages





    Medientyp :

    Aufsatz/Kapitel (Buch)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch





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