Time-Continuous Real-Time Trajectory Generation for Safe Autonomous Flight of a Quadrotor in Unknown Environment
1
Artificial Intelligence Research, Hyundai-Autoever, Seoul 06176, Korea
2
Department of Mechanical Engineering, Sungkyunkwan University, Suwon 16419, Korea
*
Author to whom correspondence should be addressed.
Academic Editor: Silvio Cocuzza
Appl. Sci. 2021, 11(7), 3238; https://doi.org/10.3390/app11073238
Received: 27 February 2021
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Revised: 1 April 2021
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Accepted: 2 April 2021
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Published: 4 April 2021
(This article belongs to the Special Issue Advances in Aerial, Space, and Underwater Robotics)
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.
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Keywords:
quadrotor; trajectory generation; replanning
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MDPI and ACS Style
Park, Y.; Kim, W.; Moon, H. Time-Continuous Real-Time Trajectory Generation for Safe Autonomous Flight of a Quadrotor in Unknown Environment. Appl. Sci. 2021, 11, 3238. https://doi.org/10.3390/app11073238
AMA Style
Park Y, Kim W, Moon H. Time-Continuous Real-Time Trajectory Generation for Safe Autonomous Flight of a Quadrotor in Unknown Environment. Applied Sciences. 2021; 11(7):3238. https://doi.org/10.3390/app11073238
Chicago/Turabian StylePark, Yonghee, Woosung Kim, and Hyungpil Moon. 2021. "Time-Continuous Real-Time Trajectory Generation for Safe Autonomous Flight of a Quadrotor in Unknown Environment" Applied Sciences 11, no. 7: 3238. https://doi.org/10.3390/app11073238
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