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Airways: Optimization-Based Planning of Quadrotor Trajectories according to High-Level User Goals

2019-06-27 14:14:51
Christoph Gebhardt, Benjamin Hepp, Tobias Naegeli, Stefan Stevsic, Otmar Hilliges
arXiv_RO
           
Abstract

In this paper we propose a computational design tool that al-lows end-users to create advanced quadrotor trajectories witha variety of application scenarios in mind. Our algorithm al-lows novice users to create quadrotor based use-cases withoutrequiring deep knowledge in either quadrotor control or theunderlying constraints of the target domain. To achieve thisgoal we propose an optimization-based method that gener-ates feasible trajectories which can be flown in the real world.Furthermore, the method incorporates high-level human ob-jectives into the planning of flight trajectories. An easy touse 3D design tool allows for quick specification and edit-ing of trajectories as well as for intuitive exploration of theresulting solution space. We demonstrate the utility of our ap-proach in several real-world application scenarios, includingaerial-videography, robotic light-painting and drone racing.

Abstract (translated)

URL

https://arxiv.org/abs/1906.11669

PDF

https://arxiv.org/pdf/1906.11669.pdf

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