A quadrotor unmanned aerial vehicle trajectory generation algorithm based on RRT-JPS and corridors
Hao Liu, Mengmeng Yin, Zheng Wu, Fanbiao Li · 2023
This paper proposes a novel algorithm about generating trajectory planning for quadrotor unmanned aerial vehicle (UAV) using fusion algorithm, In the path search part, this paper uses the fusion algorithm based on rapidly-exploring random tree (RRT) and jump point search (JPS), and uses the algorithm based on flight corridor in the trajectory generation stage. Firstly, we use grid map to store the environment information, which is the best mapping way for JPS. Based on JPS algorithm, we adopt RRT-JPS algorithm by combine JPS with the improved RRT algorithm, to enhance the smoothness and speed of path search. Then, by expanding the path block selected by RRT-JPS algorithm, a safe flight corridor can be generated. Finally, by adding time and energy consumption to the cost function in the trajectory optimization algorithm, optimization result can be faster under the premise of ensuring smoothness. The simulation and experimental results show the application of the method is smoother and fewer resource consumption.