Quadrotor Path Planning and Polynomial Trajectory Generation Using Quadratic Programming for Indoor Environments
This study considers the problem of generating optimal, kino-dynamic-feasible, and obstacle-free trajectories for a quadrotor through indoor environments. We explore methods to overcome the challenges faced by quadrotors for indoor settings due to their higher-order vehicle dynamics, relatively limi...
| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
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MDPI AG
2023-02-01
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| Series: | Drones |
| Subjects: | |
| Online Access: | https://www.mdpi.com/2504-446X/7/2/122 |
| _version_ | 1797621472879968256 |
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| author | Muhammad Awais Arshad Jamal Ahmed Hyochoong Bang |
| author_facet | Muhammad Awais Arshad Jamal Ahmed Hyochoong Bang |
| author_sort | Muhammad Awais Arshad |
| collection | DOAJ |
| description | This study considers the problem of generating optimal, kino-dynamic-feasible, and obstacle-free trajectories for a quadrotor through indoor environments. We explore methods to overcome the challenges faced by quadrotors for indoor settings due to their higher-order vehicle dynamics, relatively limited free spaces through the environment, and challenging optimization constraints. In this research, we propose a complete pipeline for path planning, trajectory generation, and optimization for quadrotor navigation through indoor environments. We formulate the trajectory generation problem as a Quadratic Program (QP) with Obstacle-Free Corridor (OFC) constraints. The OFC is a collection of convex overlapping polyhedra that model tunnel-like free connecting space from current configuration to goal configuration. Linear inequality constraints provided by the polyhedra of OFCs are used in the QP for real-time optimization performance. We demonstrate the feasibility of our approach, its performance, and its completeness by simulating multiple environments of differing sizes and varying obstacle densities using MATLAB Optimization Toolbox. We found that our approach has higher chances of convergence of optimization solver as compared to current approaches for challenging scenarios. We show that our proposed pipeline can plan complete paths and optimize trajectories in a few hundred milliseconds and within approximately ten iterations of the optimization solver for everyday indoor settings. |
| first_indexed | 2024-03-11T08:56:25Z |
| format | Article |
| id | doaj.art-e913d9ff1af545cfbd19ce1c83000e1a |
| institution | Directory Open Access Journal |
| issn | 2504-446X |
| language | English |
| last_indexed | 2024-03-11T08:56:25Z |
| publishDate | 2023-02-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Drones |
| spelling | doaj.art-e913d9ff1af545cfbd19ce1c83000e1a2023-11-16T20:06:56ZengMDPI AGDrones2504-446X2023-02-017212210.3390/drones7020122Quadrotor Path Planning and Polynomial Trajectory Generation Using Quadratic Programming for Indoor EnvironmentsMuhammad Awais Arshad0Jamal Ahmed1Hyochoong Bang2Department of Aerospace Engineering, Korea Advanced Institute of Science and Technology, Daejeon 34141, Republic of KoreaDepartment of Aerospace Engineering, Korea Advanced Institute of Science and Technology, Daejeon 34141, Republic of KoreaDepartment of Aerospace Engineering, Korea Advanced Institute of Science and Technology, Daejeon 34141, Republic of KoreaThis study considers the problem of generating optimal, kino-dynamic-feasible, and obstacle-free trajectories for a quadrotor through indoor environments. We explore methods to overcome the challenges faced by quadrotors for indoor settings due to their higher-order vehicle dynamics, relatively limited free spaces through the environment, and challenging optimization constraints. In this research, we propose a complete pipeline for path planning, trajectory generation, and optimization for quadrotor navigation through indoor environments. We formulate the trajectory generation problem as a Quadratic Program (QP) with Obstacle-Free Corridor (OFC) constraints. The OFC is a collection of convex overlapping polyhedra that model tunnel-like free connecting space from current configuration to goal configuration. Linear inequality constraints provided by the polyhedra of OFCs are used in the QP for real-time optimization performance. We demonstrate the feasibility of our approach, its performance, and its completeness by simulating multiple environments of differing sizes and varying obstacle densities using MATLAB Optimization Toolbox. We found that our approach has higher chances of convergence of optimization solver as compared to current approaches for challenging scenarios. We show that our proposed pipeline can plan complete paths and optimize trajectories in a few hundred milliseconds and within approximately ten iterations of the optimization solver for everyday indoor settings.https://www.mdpi.com/2504-446X/7/2/122path planningquadratic programmingtrajectory generationoptimizationobstacle-free corridors |
| spellingShingle | Muhammad Awais Arshad Jamal Ahmed Hyochoong Bang Quadrotor Path Planning and Polynomial Trajectory Generation Using Quadratic Programming for Indoor Environments Drones path planning quadratic programming trajectory generation optimization obstacle-free corridors |
| title | Quadrotor Path Planning and Polynomial Trajectory Generation Using Quadratic Programming for Indoor Environments |
| title_full | Quadrotor Path Planning and Polynomial Trajectory Generation Using Quadratic Programming for Indoor Environments |
| title_fullStr | Quadrotor Path Planning and Polynomial Trajectory Generation Using Quadratic Programming for Indoor Environments |
| title_full_unstemmed | Quadrotor Path Planning and Polynomial Trajectory Generation Using Quadratic Programming for Indoor Environments |
| title_short | Quadrotor Path Planning and Polynomial Trajectory Generation Using Quadratic Programming for Indoor Environments |
| title_sort | quadrotor path planning and polynomial trajectory generation using quadratic programming for indoor environments |
| topic | path planning quadratic programming trajectory generation optimization obstacle-free corridors |
| url | https://www.mdpi.com/2504-446X/7/2/122 |
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