Constructing Safe Flight Corridors for Quadrotor Navigation in Cluttered 3-D Environments
Zhengyang Hua · 2023
As the use of quadcopters becomes more widespread, the need for safe and timely quadcopter flight increases. In particular, operating a quadrotor in a cluttered environment presents the challenge of non-convex obstacles and safe flight trajectory generation. This paper presents two methods for generating the safe flight corridor (SFC) step in the three steps of quadrotor 3D trajectory planning, octree-based flight corridor generation, and inflated ellipsoid flight corridor generation, and verifies their superiority by comparing them with existing algorithms (RRT* based planning and IRIS) through an experimental method of computer simulation. Finally, the limitations of both methods are presented and conjectures for solutions are made based on the establishment and experimental validation methods of both methods.