Real-time trajectory replanning for MAVs using uniform B-splines and a 3D circular buffer
Real-time trajectory replanning for MAVs using uniform B-splines and a 3D circular buffer
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DOI：
10.1109/iros.2017.8202160
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发表时间：
2017-03
期刊：
影响因子：
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通讯作者：
V. Usenko;L. Stumberg;A. Pangercic;D. Cremers
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文献类型：
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作者：
V. Usenko;L. Stumberg;A. Pangercic;D. Cremers
本文提出了一种微型飞行器局部轨迹重规划的实时方法。目前的多目标轨迹生成方法在杂乱的环境中取得了很高的成功率，但假设环境是静态的，需要地图的先验知识。在目前的研究中，我们使用这种规划器的结果，并使用局部重新规划算法对其进行扩展，该算法可以处理未建模(可能是动态的)障碍物，同时保持MAV接近全局轨迹。为了确保所提出的方法具有实时能力，我们将关于MAV周围环境的信息保存在一个存储在三维圆形缓冲区中的占用网格中，该缓冲区与无人机一起移动，并使用均匀的B-Spline来表示轨迹。这种表示确保了轨迹足够平滑，同时允许进行有效的优化。
In this paper, we present a real-time approach to local trajectory replanning for microaerial vehicles (MAVs). Current trajectory generation methods for multicopters achieve high success rates in cluttered environments, but assume that the environment is static and require prior knowledge of the map. In the presented study, we use the results of such planners and extend them with a local replanning algorithm that can handle unmodeled (possibly dynamic) obstacles while keeping the MAV close to the global trajectory. To ensure that the proposed approach is real-time capable, we maintain information about the environment around the MAV in an occupancy grid stored in a three-dimensional circular buffer, which moves together with a drone, and represent the trajectories by using uniform B-splines. This representation ensures that the trajectory is sufficiently smooth and simultaneously allows for efficient optimization.