Time-Continuous Real-Time Trajectory Generation for Safe Autonomous Flight of a Quadrotor in Unknown Environment
In this paper, we present an efficient global and local replanning method for a quadrotor to complete a flight mission in a cluttered and unmapped environment. A minimum-snap global path planner generates a global trajectory that comprises some waypoints in a cluttered environment. When facing unexp...
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Online Access: | https://www.mdpi.com/2076-3417/11/7/3238 |
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doaj-c1a81aad19bb4858b89bb989500c3c2d2021-04-04T23:01:39ZengMDPI AGApplied Sciences2076-34172021-04-01113238323810.3390/app11073238Time-Continuous Real-Time Trajectory Generation for Safe Autonomous Flight of a Quadrotor in Unknown EnvironmentYonghee Park0Woosung Kim1Hyungpil Moon2Artificial Intelligence Research, Hyundai-Autoever, Seoul 06176, KoreaDepartment of Mechanical Engineering, Sungkyunkwan University, Suwon 16419, KoreaDepartment of Mechanical Engineering, Sungkyunkwan University, Suwon 16419, KoreaIn this paper, we present an efficient global and local replanning method for a quadrotor to complete a flight mission in a cluttered and unmapped environment. A minimum-snap global path planner generates a global trajectory that comprises some waypoints in a cluttered environment. When facing unexpected obstacles, our method modifies the global trajectory using geometrical planning and closed-form formulation for an analytical solution with 9th-order polynomial. The proposed method provides an analytical solution, not a numerical one, and it is computationally efficient without falling into a local minima problem. In a simulation, we show that the proposed method can fly a quadrotor faster than the numerical method in a cluttered environment. Furthermore, we show in experiments that the proposed method can provide safer and faster trajectory generation than the numerical method in a real environment.https://www.mdpi.com/2076-3417/11/7/3238quadrotortrajectory generationreplanning |
collection |
DOAJ |
language |
English |
format |
Article |
sources |
DOAJ |
author |
Yonghee Park Woosung Kim Hyungpil Moon |
spellingShingle |
Yonghee Park Woosung Kim Hyungpil Moon Time-Continuous Real-Time Trajectory Generation for Safe Autonomous Flight of a Quadrotor in Unknown Environment Applied Sciences quadrotor trajectory generation replanning |
author_facet |
Yonghee Park Woosung Kim Hyungpil Moon |
author_sort |
Yonghee Park |
title |
Time-Continuous Real-Time Trajectory Generation for Safe Autonomous Flight of a Quadrotor in Unknown Environment |
title_short |
Time-Continuous Real-Time Trajectory Generation for Safe Autonomous Flight of a Quadrotor in Unknown Environment |
title_full |
Time-Continuous Real-Time Trajectory Generation for Safe Autonomous Flight of a Quadrotor in Unknown Environment |
title_fullStr |
Time-Continuous Real-Time Trajectory Generation for Safe Autonomous Flight of a Quadrotor in Unknown Environment |
title_full_unstemmed |
Time-Continuous Real-Time Trajectory Generation for Safe Autonomous Flight of a Quadrotor in Unknown Environment |
title_sort |
time-continuous real-time trajectory generation for safe autonomous flight of a quadrotor in unknown environment |
publisher |
MDPI AG |
series |
Applied Sciences |
issn |
2076-3417 |
publishDate |
2021-04-01 |
description |
In this paper, we present an efficient global and local replanning method for a quadrotor to complete a flight mission in a cluttered and unmapped environment. A minimum-snap global path planner generates a global trajectory that comprises some waypoints in a cluttered environment. When facing unexpected obstacles, our method modifies the global trajectory using geometrical planning and closed-form formulation for an analytical solution with 9th-order polynomial. The proposed method provides an analytical solution, not a numerical one, and it is computationally efficient without falling into a local minima problem. In a simulation, we show that the proposed method can fly a quadrotor faster than the numerical method in a cluttered environment. Furthermore, we show in experiments that the proposed method can provide safer and faster trajectory generation than the numerical method in a real environment. |
topic |
quadrotor trajectory generation replanning |
url |
https://www.mdpi.com/2076-3417/11/7/3238 |
work_keys_str_mv |
AT yongheepark timecontinuousrealtimetrajectorygenerationforsafeautonomousflightofaquadrotorinunknownenvironment AT woosungkim timecontinuousrealtimetrajectorygenerationforsafeautonomousflightofaquadrotorinunknownenvironment AT hyungpilmoon timecontinuousrealtimetrajectorygenerationforsafeautonomousflightofaquadrotorinunknownenvironment |
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1721541364201553920 |