This article presents a motion planning strategy that integrates a reactive receding horizon local trajectory generation methodology with a navigation function based global planner to guarantee that a quadrotor type mav navigating in partially-known cluttered environment can reach its goal. The environment is partially known in the sense that there can be obstacles which are not a priori known to be included in the navigation function construction and used by the global planner. These obstacles are avoided reactively at the level of the local planner, which reacts to sensing information within the Field of View (fov) of the onboard sensors and keeps generating dynamically feasible safe trajectories along the segments generated by the global planner. The proposed motion planning strategy combines the advantages of global and reactive aerial navigation, producing locally optimal (in a minimum-jerk sense) vehicle motion. The effectiveness of the planner is demonstrated through realistic ros-Gazebo simulations.


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    Title :

    Exact Reactive Receding Horizon Motion Planning for Aerial Vehicles


    Contributors:


    Publication date :

    2021-06-15


    Size :

    1560936 byte





    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English




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