Time-Continuous Real-Time Trajectory Generation for Safe Autonomous Flight of a Quadrotor in Unknown Environment

Time-Continuous Real-Time Trajectory Generation for Safe Autonomous Flight of a Quadrotor in Unknown Environment

In this paper, we present an efficient global and local replanning method for a quadrotor to complete a flight mission in a cluttered and unmapped environment. A minimum-snap global path planner generates a global trajectory that comprises some waypoints in a cluttered environment. When facing unexp...

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Bibliographic Details
Main Authors: Yonghee Park, Woosung Kim, Hyungpil Moon
Format: Article
Language:English
Published: MDPI AG 2021-04-01
Series:Applied Sciences
Subjects:
quadrotor
trajectory generation
replanning
Online Access:https://www.mdpi.com/2076-3417/11/7/3238

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