3D planning and trajectory optimization for real-time generation of smooth MAV trajectories
3D planning and trajectory optimization for real-time generation of smooth MAV trajectories
复制标题
3D 规划和轨迹优化，实时生成平滑的 MAV 轨迹
DOI：
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发表时间：
2015
期刊：
影响因子：
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通讯作者：
Sven Behnke
中科院分区：
文献类型：
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作者：
Matthias Nieuwenhuisen;Sven Behnke
自主微型飞行器（MAV）复杂的室内和室外任务要求在三维空间中快速生成无碰撞路径。在执行任务之前，通常不是环境中的所有障碍都是已知的。因此，在飞行过程中重新规划的能力是成功的关键。我们的方法利用基于粗网格的路径规划和近似的飞行动力学模型来确定无碰撞轨迹。为了考虑飞行动力学并减轻离散化效应，这些轨迹通过基于梯度的运动优化方法进一步优化。我们在带有建筑物的室外地图上评估我们的方法，并报告轨迹成本和运行结果。
Complex indoor and outdoor missions for autonomous micro aerial vehicles (MAV) constitute a demand for fast generation of collision-free paths in 3D space. Often not all obstacles in an environment are known prior to the mission execution. Consequently, the ability for replanning during a flight is key for success. Our approach utilizes coarse grid-based path planning with an approximate model of flight dynamics to determine collision-free trajectories. To account for the flight dynamics and to mitigate discretization effects, these trajectories are further optimized with a gradient-based motion optimization method. We evaluate our method on an outdoor map with buildings and report trajectory costs and runtime results.
影响因子：
8.3
作者：
Droeschel, David;Nieuwenhuisen, Matthias;Behnke, Sven
通讯作者：
Behnke, Sven