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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    Title :

    Safe Polynomial Trajectory Generation for Quadrotor Flight in Dense Environments


    Additional title:

    Lect. Notes Electrical Eng.


    Contributors:
    Yan, Liang (editor) / Duan, Haibin (editor) / Yu, Xiang (editor) / Wu, Zhenping (author) / Meng, Zhijun (author) / Wu, Zhe (author)


    Publication date :

    2021-10-30


    Size :

    8 pages





    Type of media :

    Article/Chapter (Book)


    Type of material :

    Electronic Resource


    Language :

    English





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