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Path Planning Followed by Kinodynamic Smoothing for Multirotor Aerial Vehicles

2020-08-29 09:55:49
Geesara Kulathunga, Dmitry Devitt, Roman Fedorenko, Sergei Savin, Alexandr Klimchik
arXiv_CV
     
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 \textquotedblleft RRT*\textquotedblright\; 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.

Abstract (translated)

URL

https://arxiv.org/abs/2008.12950

PDF

https://arxiv.org/pdf/2008.12950.pdf

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