A robust online path planning approach in cluttered environments for micro rotorcraft drones
Shupeng LAI
Kangli WANG
Hailong QIN
Jin Q CUI
Ben M CHEN
摘要：We present in this paper a robust online path planning method, which allows a micro rotorcraft drone to fly safely in GPS-denied and obstacle-strewn environments with limited onboard computational power. The approach is based on an effi-ciently managed grid map and a closed-form solution to the two point boundary value problem (TPBVP). The grid map assists trajectory evaluation whereas the solution to the TPBVP generates smooth trajectories. Finally, a top-level trajectory switching algorithm is utilized to minimize the computational cost. Advantages of the proposed approach include its conservation of com-putational resource, robustness of trajectory generation and agility of reaction to unknown environment. The result has been realized on actual drones platforms and successfully demonstrated in real flight tests. The video of flight tests can be found at:
机标关键词：boundary value problemplanning method
论文发表日期：2016-01-01
在线出版日期：2025-08-15（本平台首次上网日期，不代表文献的发表时间）
页数：14( 83-96 )
英文信息