Search-based Trajectory Planning with Motion Primitives for Quadrotors Using Pruning A* Algorithm
Yan Jingyu, Jianjun Ma · 2022 37th Youth Academic Annual Conference of Chinese Association of Automation (YAC) · 2022
In this paper, a trajectory planning method based on pruning A* with motion primitives is proposed for quadrotors. First, the motion planning problem for quadrotors is formulated as an optimization problem and the control space is discretized uniformly to obtain motion primitives with the consideration of quadrotor’s dynamics. Secondly, a Pruning A* algorithm with high search efficiency is designed to find the suboptimal and free-collision trajectory. Furthermore, the constraint of Field of View (FOV) is considered in order to be applied into practice. Finally, the simulation results show the effectiveness of the proposed methods.