Application Research of Quadrotor UAV Motion Planning System Based on Heuristic Search and Minimum-Snap Trajectory Optimization
Shuo Dong · 2021
The design scheme proposed in this paper includes three key aspects, path planning and trajectory optimization, and system state control. First, through a heuristic algorithm based on dynamics optimization, an optimal path is found in the current environment that meets the specific constraints of dynamics. Furthermore, according to the searched path, a polynomial function is used to express its trajectory, and the trajectory is quickly generated by the method of the smallest displacement derivative for optimization, which provides input to the quadrotor UAV control module. By discussing the constraints of the quad-rotor UAV flight, it is transformed into a convex quadratic programming problem for solution. Finally, use the state machine to manage the current state of the drone, and set up the security module for high-frequency collision detection. The ultimate goal is to allow UAVs to independently complete motion planning in unknown environments.