Planning Dynamically Feasible Trajectories for Quadrotors Using Safe Flight Corridors in 3-D Complex Environments
Sikang Liu,Michael Watterson,Kartik Mohta,Ke Sun,Subhrajit Bhattacharya,Camillo J. Taylor,Vijay Kumar +6 more
- Vol. 2, Iss: 3, pp 1688-1695
TLDR
This work proposes a method to formulate trajectory generation as a quadratic program (QP) using the concept of a Safe Flight Corridor (SFC), a collection of convex overlapping polyhedra that models free space and provides a connected path from the robot to the goal position.Abstract:
There is extensive literature on using convex optimization to derive piece-wise polynomial trajectories for controlling differential flat systems with applications to three-dimensional flight for Micro Aerial Vehicles. In this work, we propose a method to formulate trajectory generation as a quadratic program (QP) using the concept of a Safe Flight Corridor (SFC). The SFC is a collection of convex overlapping polyhedra that models free space and provides a connected path from the robot to the goal position. We derive an efficient convex decomposition method that builds the SFC from a piece-wise linear skeleton obtained using a fast graph search technique. The SFC provides a set of linear inequality constraints in the QP allowing real-time motion planning. Because the range and field of view of the robot's sensors are limited, we develop a framework of Receding Horizon Planning , which plans trajectories within a finite footprint in the local map, continuously updating the trajectory through a re-planning process. The re-planning process takes between 50 to 300 ms for a large and cluttered map. We show the feasibility of our approach, its completeness and performance, with applications to high-speed flight in both simulated and physical experiments using quadrotors.read more
Citations
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Online Safe Trajectory Generation for Quadrotors Using Fast Marching Method and Bernstein Basis Polynomial
TL;DR: This paper adopts a fast marching-based path searching method to find a path on a velocity field induced by the Euclidean signed distance field (ESDF) of the map, to achieve better time allocation.
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Autonomous aerial navigation using monocular visual‐inertial fusion
TL;DR: It is shown that it is possible to achieve reliable online autonomous navigation using monocular VINS, and the backbone of the system is a highly accurate optimization‐based monocular visual‐inertial state estimator with online initialization and self‐extrinsic calibration.
Posted Content
Robust and Efficient Quadrotor Trajectory Generation for Fast Autonomous Flight
TL;DR: A kinodynamic path searching method to find a safe, kinodynamic feasible, and minimum-time initial trajectory in the discretized control space is adopted and the competence of the method is also validated in challenging real-world tasks.
Proceedings ArticleDOI
Search-based motion planning for quadrotors using linear quadratic minimum time control
TL;DR: A search-based planning method to compute dynamically feasible trajectories for a quadrotor flying in an obstacle-cluttered environment that does not assume a hovering initial condition and is suitable for fast online re-planning while the robot is moving.
Journal ArticleDOI
Fast, autonomous flight in GPS-denied and cluttered environments
Kartik Mohta,Michael Watterson,Yash Mulgaonkar,Sikang Liu,Chao Qu,Anurag Makineni,Kelsey Saulnier,Ke Sun,Alex Zihao Zhu,Jeffrey A. Delmerico,Konstantinos Karydis,Nikolay Atanasov,Giuseppe Loianno,Davide Scaramuzza,Kostas Daniilidis,Camillo J. Taylor,Vijay Kumar +16 more
TL;DR: The system design and software architecture of the proposed solution are described and how all the distinct components can be integrated to enable smooth robot operation are showcased.
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