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1 results

Efficient and Safe Motion Planning for Quadrotors Based on Unconstrained Quadratic Programming
Yanhui Li, Chao Liu
Journal:

Robotica / Volume 39 / Issue 2 / February 2021

Published online by Cambridge University Press:

19 June 2020, pp. 317-333
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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.