Abstract
In this paper, we present a real-time local trajectory replanning method for quadrotors in unknown cluttered environment. In the process of following the global trajectory, an octree-based environment map is built using the onboard sensor. The map is stored in a fixed-size three-dimensional circular buffer to build a local map, which is centered on the quadrotor and updated in real time with the movement of the quadrotor. Based on the local map, we adopt a sampling-based path planning method to find the initial safe path passing through obstacles, and then use uniform b-spline to convert the path consisting of line segments into a smooth and dynamical feasible trajectory. The local trajectory replanning is performed at 0.5 s intervals until reaching the target point. Through simulation experiments and comparison with existing methods, we verify the effectiveness of the method we proposed.
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This work was supported by National Nature Science Foundation (NNSF) of China under Grant 61876187.
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Hu, J., Ma, Z., Niu, Y., Tian, W., Yao, W. (2019). Real-Time Trajectory Replanning for Quadrotor Using OctoMap and Uniform B-Splines. In: Yu, H., Liu, J., Liu, L., Ju, Z., Liu, Y., Zhou, D. (eds) Intelligent Robotics and Applications. ICIRA 2019. Lecture Notes in Computer Science(), vol 11741. Springer, Cham. https://doi.org/10.1007/978-3-030-27532-7_63
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DOI: https://doi.org/10.1007/978-3-030-27532-7_63
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