Regular Papers

International Journal of Control, Automation, and Systems 2024; 22(2): 631-647

https://doi.org/10.1007/s12555-022-0742-z

© The International Journal of Control, Automation, and Systems

Search-based Path Planning and Receding Horizon Based Trajectory Generation for Quadrotor Motion Planning

Bo Zhang, Pudong Liu, Wanxin Liu, Xiaoshan Bai*, Awais Khan, and Jianping Yuan

Shenzhen University

Abstract

This paper proposes a receding horizon based motion planning method, which allows a sensoryconstrained quadrotor to dynamically plan obstacle-avoiding trajectories in unknown complex environments. First, a two-process search method is proposed to generate an initial feasible path satisfying the dynamics of the quadrotor. Second, the path smoothness is improved by solving a nonlinear optimization problem considering path safety and smoothness. Then, a uniform B-spline is used to interpolate the path with a receding horizon to achieve a safe and dynamically feasible trajectory with minimum trajectory time by solving an optimization problem. Finally, a time adjustment method is proposed based on the relationship between the distance of the B-spline trajectory and the obstacles. Extensive simulation results illustrate that the designed method doubles the safety range, defined as the minimum distance between the quadrotor and the obstacles, and consumes less than 70% of computational running time compared with the state-of-the-art. Outdoor flight experiments performed with a vision-based quadrotor show the satisfying performance of the motion planning approach.

Keywords Autonomous navigation, path optimization, path planning, quadrotor, trajectory optimization.

Article

Regular Papers

International Journal of Control, Automation, and Systems 2024; 22(2): 631-647

Published online February 1, 2024 https://doi.org/10.1007/s12555-022-0742-z

Copyright © The International Journal of Control, Automation, and Systems.

Search-based Path Planning and Receding Horizon Based Trajectory Generation for Quadrotor Motion Planning

Bo Zhang, Pudong Liu, Wanxin Liu, Xiaoshan Bai*, Awais Khan, and Jianping Yuan

Shenzhen University

Abstract

This paper proposes a receding horizon based motion planning method, which allows a sensoryconstrained quadrotor to dynamically plan obstacle-avoiding trajectories in unknown complex environments. First, a two-process search method is proposed to generate an initial feasible path satisfying the dynamics of the quadrotor. Second, the path smoothness is improved by solving a nonlinear optimization problem considering path safety and smoothness. Then, a uniform B-spline is used to interpolate the path with a receding horizon to achieve a safe and dynamically feasible trajectory with minimum trajectory time by solving an optimization problem. Finally, a time adjustment method is proposed based on the relationship between the distance of the B-spline trajectory and the obstacles. Extensive simulation results illustrate that the designed method doubles the safety range, defined as the minimum distance between the quadrotor and the obstacles, and consumes less than 70% of computational running time compared with the state-of-the-art. Outdoor flight experiments performed with a vision-based quadrotor show the satisfying performance of the motion planning approach.

Keywords: Autonomous navigation, path optimization, path planning, quadrotor, trajectory optimization.

IJCAS
May 2024

Vol. 22, No. 5, pp. 1461~1759

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