The DOI matches its Crossref record; 11 of the 11 references it cites were found in a registry or an index.
Planning Dynamically Feasible Trajectories for Quadrotors Using Safe Flight Corridors in 3-D Complex Environments
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.
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Cites
OctoMap: an efficient probabilistic 3D mapping framework based on octrees
Hornung, A., Wurm, K. M., Bennewitz, M., Stachniss, C., & Burgard, W. (2013) · Autonomous Robots · doi:10.1007/s10514-012-9321-0 · Cited by 2,866
Minimum snap trajectory generation and control for quadrotors
Mellinger, D., & Kumar, V. (2011) · 2011 IEEE International Conference on Robotics and Automation · doi:10.1109/icra.2011.5980409 · Cited by 2,367
Self-citationA Multi-State Constraint Kalman Filter for Vision-aided Inertial Navigation
Mourikis, A. I., & Roumeliotis, S. I. (2007) · Proceedings 2007 IEEE International Conference on Robotics and Automation · doi:10.1109/robot.2007.364024 · Cited by 1,951
Geometric tracking control of a quadrotor UAV on SE(3)
Lee, T., Leok, M., & McClamroch, N. H. (2010) · 49th IEEE Conference on Decision and Control (CDC) · doi:10.1109/cdc.2010.5717652 · Cited by 1,376
Polynomial Trajectory Planning for Aggressive Quadrotor Flight in Dense Indoor Environments
Richter, C., Bry, A., & Roy, N. (2016) · Springer Tracts in Advanced Robotics · doi:10.1007/978-3-319-28872-7_37 · Cited by 747
Mixed-integer quadratic program trajectory generation for heterogeneous quadrotor teams
Mellinger, D., Kushleyev, A., & Kumar, V. (2012) · 2012 IEEE International Conference on Robotics and Automation · doi:10.1109/icra.2012.6225009 · Cited by 274
Self-citationReceding horizon control of autonomous aerial vehicles
Bellingham, J., Richards, A., & How, J. P. (2002) · Proceedings of the 2002 American Control Conference (IEEE Cat. No.CH37301) · doi:10.1109/acc.2002.1024509 · Cited by 271
Real-time trajectory generation for differentially flat systems
Van Nieuwstadt, M. J., & Murray, R. M. (1998) · International Journal of Robust and Nonlinear Control · doi:10.1002/(sici)1099-1239(199809)8:11<995::aid-rnc373>3.0.co;2-w · Cited by 264
Computing Large Convex Regions of Obstacle-Free Space Through Semidefinite Programming
Deits, R., & Tedrake, R. (2015) · Springer tracts in advanced robotics · doi:10.1007/978-3-319-16595-0_7 · Cited by 249
Efficient mixed-integer planning for UAVs in cluttered environments
Deits, R., & Tedrake, R. (2015) · Proceedings - IEEE International Conference on Robotics and Automation/Proceedings · doi:10.1109/icra.2015.7138978 · Cited by 228
Cited by
Robust and Efficient Quadrotor Trajectory Generation for Fast Autonomous Flight
Zhou, B., Gao, F., Wang, L., Liu, C., & Shen, S. (2019) · IEEE Robotics and Automation Letters · doi:10.1109/lra.2019.2927938 · Cited by 747
Kulathunga, G., Hamed, H., Devitt, D., & Klimchik, A. (2022) · IEEE Robotics and Automation Letters · doi:10.1109/lra.2022.3151157 · Cited by 19
Metadata
- Authors
- Liu, S., Watterson, M., Mohta, K., Sun, K., Bhattacharya, S., Taylor, C. J., & Kumar, V.
- Venue
- IEEE Robotics and Automation Letters
- Published
- 2017-07
- Volume
- 2
- Issue
- 3
- Pages
- 1688-1695
- ISSN
- 2377-3766 (ISSN-L)
- 2377-3774
- OpenAlex
- W2587415290
- Cited by
- 555
- References
- 11
- FWCI
- 11.91
- Type
- journal article
- Language
- en
- Open access
- closed
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- Liu, S., Watterson, M., Mohta, K., Sun, K., Bhattacharya, S., Taylor, C. J., & Kumar, V. (2017). Planning Dynamically Feasible Trajectories for Quadrotors Using Safe Flight Corridors in 3-D Complex Environments. IEEE Robotics and Automation Letters. https://doi.org/10.1109/lra.2017.2663526
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