Search-based motion planning algorithms for quadrotors
Eric Gan · 2023
Motion Planning is an essential module for quadrotors, especially for automated navigation tasks. This paper introduces a search-based motion planning method for the quadrotor. The method can generate minimum time and smooth trajectory for quadrotors in a cluttered environment. The method explores the space with short-duration motion primitives based on obstacle information and dynamic constraints and generates an induced finite lattice discretization map. Then, the searchbased algorithm traverses through the map and returns a preferred trajectory. With the help of the heuristic function, the trajectory planning only takes a short time and is available for fast replanning during the flight. The performance of the proposed approach is evaluated using simulation and comparison with other state-of-art trajectory generation approaches.