Abstract
This chapter presents a kinodynamic motion planner for computing agile motions of quad-rotor-like aerial robots in constrained environments. Based on a simple dynamic model of the UAV, a computationally-efficient local planner is proposed to generate flyable trajectories of minimal time. This local planner is then integrated as a key component for global motion planning using different approaches. The good performance of the proposed methods is illustrated with results in simulation, as well as a preliminary experimentation with a real quad-rotor.
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- 1.
The code (C and MATLAB versions) is available upon request.
- 2.
The steering method has been has been implemented as a general-purpose and standalone C++ library named KDTP (for KinoDynamic Trajectory Planner) and a git repository is available at git://git.openrobots.org/robots/libkdtp.git.
- 3.
A quasi-metric has all the properties of a metric, symmetry excepted.
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Boeuf, A., Cortés, J., Siméon, T. (2019). Motion Planning. In: Ollero, A., Siciliano, B. (eds) Aerial Robotic Manipulation. Springer Tracts in Advanced Robotics, vol 129. Springer, Cham. https://doi.org/10.1007/978-3-030-12945-3_23
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DOI: https://doi.org/10.1007/978-3-030-12945-3_23
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