Path planning followed by kinodynamic smoothing for multirotor aerial vehicles (MAVs)

DOI10.20537/ND210410MaRDI QIDQ3391318zbMATH OpenOpenAlexFDO

Authors Geesara Kulathunga, Dmitry Devitt, Roman Fedorenko, Alexandr Klimchik

Publication date 28 March 2022

Published in Nelineinaya Dinamika (Search for Journal in Brave)

Full work available at URL https://arxiv.org/abs/2008.12950, http://mathnet.ru/eng/nd773

zbMATH Keywords

B-splineellipsoidal search spaceiLQRoctomapRRT\(^*\)

Mathematics Subject Classification ID

Kinematics of a rigid body (70B10)

Abstract: We explore path planning followed by kinodynamic smoothing while ensuring the vehicle dynamics feasibility for MAVs. We have chosen a geometrically based motion planning technique extquotedblleft RRT* extquotedblright; for this purpose. In the proposed technique, we modified original RRT* introducing an adaptive search space and a steering function which help to increase the consistency of the planner. Moreover, we propose multiple RRT* which generates a set of desired paths, provided that the optimal path is selected among them. Then, apply kinodynamic smoothing, which will result in dynamically feasible as well as obstacle-free path. Thereafter, a b spline-based trajectory is generated to maneuver vehicle autonomously in unknown environments. Finally, we have tested the proposed technique in various simulated environments.

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Cites work

• Constrained minimum-time path planning for robot manipulators via virtual knots of the cubic B-spline functions
• Incremental sampling-based algorithms for a class of pursuit-evasion games
• Kinodynamic motion planning

Cited in

(1)

• On the generation of trajectories for multiple uavs in environments with obstacles

Describes a project that uses

Uses Software

• OctoMap

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