Search-based motion planning algorithms for quadrotors

Yaoning Gan

doi:10.1117/12.2673208

14 April 2023 Search-based motion planning algorithms for quadrotors

Yaoning Gan

Proceedings Volume 12612, International Conference on Artificial Intelligence and Industrial Design (AIID 2022); 1261213 (2023) https://doi.org/10.1117/12.2673208
Event: International Conference on Artificial Intelligence and Industrial Design (AIID 2022), 2022, Zhuhai, China

Abstract

Motion Planning is an essential module for quadrotors, especially for automated navigation tasks. This paper introduces a search-based motion planning method for the quadrotor. The method can generate minimum time and smooth trajectory for quadrotors in a cluttered environment. The method explores the space with short-duration motion primitives based on obstacle information and dynamic constraints and generates an induced finite lattice discretization map. Then, the searchbased algorithm traverses through the map and returns a preferred trajectory. With the help of the heuristic function, the trajectory planning only takes a short time and is available for fast replanning during the flight. The performance of the proposed approach is evaluated using simulation and comparison with other state-of-art trajectory generation approaches.

Citation Download Citation

Yaoning Gan "Search-based motion planning algorithms for quadrotors", Proc. SPIE 12612, International Conference on Artificial Intelligence and Industrial Design (AIID 2022), 1261213 (14 April 2023); https://doi.org/10.1117/12.2673208

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