Polynomial Trajectory Planning for Aggressive Quadrotor Flight in Dense Indoor Environments
We explore the challenges of planning trajectories for quadrotors through cluttered indoor environments. We extend the existing work on polynomial trajectory generation by presenting a method of jointly optimizing polynomial path segments in an unconstrained quadratic program that is numerically sta...
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| Format: | Article |
| Language: | en_US |
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Sage Publications
2017
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| Online Access: | http://hdl.handle.net/1721.1/106840 https://orcid.org/0000-0003-3765-2021 https://orcid.org/0000-0002-8293-0492 |
| _version_ | 1826200581085069312 |
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| author | Richter, Charles Andrew Bry, Adam P. Roy, Nicholas |
| author2 | Massachusetts Institute of Technology. Department of Aeronautics and Astronautics |
| author_facet | Massachusetts Institute of Technology. Department of Aeronautics and Astronautics Richter, Charles Andrew Bry, Adam P. Roy, Nicholas |
| author_sort | Richter, Charles Andrew |
| collection | MIT |
| description | We explore the challenges of planning trajectories for quadrotors through cluttered indoor environments. We extend the existing work on polynomial trajectory generation by presenting a method of jointly optimizing polynomial path segments in an unconstrained quadratic program that is numerically stable for high-order polynomials and large numbers of segments, and is easily formulated for efficient sparse computation. We also present a technique for automatically selecting the amount of time allocated to each segment, and hence the quadrotor speeds along the path, as a function of a single parameter determining aggressiveness, subject to actuator constraints. The use of polynomial trajectories, coupled with the differentially flat representation of the quadrotor, eliminates the need for computationally intensive sampling and simulation in the high dimensional state space of the vehicle during motion planning. Our approach generates high-quality trajecrtories much faster than purely sampling-based optimal kinodynamic planning methods, but sacrifices the guarantee of asymptotic convergence to the global optimum that those methods provide. We demonstrate the performance of our algorithm by efficiently generating trajectories through challenging indoor spaces and successfully traversing them at speeds up to 8 m/s. A demonstration of our algorithm and flight performance is available at: http://groups.csail.mit.edu/rrg/quad_polynomial_trajectory_planning. |
| first_indexed | 2024-09-23T11:38:35Z |
| format | Article |
| id | mit-1721.1/106840 |
| institution | Massachusetts Institute of Technology |
| language | en_US |
| last_indexed | 2024-09-23T11:38:35Z |
| publishDate | 2017 |
| publisher | Sage Publications |
| record_format | dspace |
| spelling | mit-1721.1/1068402022-10-01T05:00:10Z Polynomial Trajectory Planning for Aggressive Quadrotor Flight in Dense Indoor Environments Richter, Charles Andrew Bry, Adam P. Roy, Nicholas Massachusetts Institute of Technology. Department of Aeronautics and Astronautics Richter, Charles Andrew Bry, Adam P. Roy, Nicholas We explore the challenges of planning trajectories for quadrotors through cluttered indoor environments. We extend the existing work on polynomial trajectory generation by presenting a method of jointly optimizing polynomial path segments in an unconstrained quadratic program that is numerically stable for high-order polynomials and large numbers of segments, and is easily formulated for efficient sparse computation. We also present a technique for automatically selecting the amount of time allocated to each segment, and hence the quadrotor speeds along the path, as a function of a single parameter determining aggressiveness, subject to actuator constraints. The use of polynomial trajectories, coupled with the differentially flat representation of the quadrotor, eliminates the need for computationally intensive sampling and simulation in the high dimensional state space of the vehicle during motion planning. Our approach generates high-quality trajecrtories much faster than purely sampling-based optimal kinodynamic planning methods, but sacrifices the guarantee of asymptotic convergence to the global optimum that those methods provide. We demonstrate the performance of our algorithm by efficiently generating trajectories through challenging indoor spaces and successfully traversing them at speeds up to 8 m/s. A demonstration of our algorithm and flight performance is available at: http://groups.csail.mit.edu/rrg/quad_polynomial_trajectory_planning. United States. Office of Naval Research. Multidisciplinary University Research Initiative (Grant N00014-09-1- 1052) Micro Autonomous Consortium Systems and Technology American Society for Engineering Education. National Defense Science and Engineering Graduate Fellowship 2017-02-02T21:43:20Z 2017-02-02T21:43:20Z 2016-04 Article http://purl.org/eprint/type/ConferencePaper 978-3-319-28870-3 978-3-319-28872-7 1610-7438 1610-742X http://hdl.handle.net/1721.1/106840 Richter, Charles, Adam Bry, and Nicholas Roy. “Polynomial Trajectory Planning for Aggressive Quadrotor Flight in Dense Indoor Environments.” Robotics Research. Ed. Masayuki Inaba and Peter Corke. Vol. 114. Cham: Springer International Publishing, 2016. 649–666. https://orcid.org/0000-0003-3765-2021 https://orcid.org/0000-0002-8293-0492 en_US http://dx.doi.org/10.1007/978-3-319-28872-7_37 Proceedings of the International Symposium of Robotics Research, 2013 Creative Commons Attribution-Noncommercial-Share Alike http://creativecommons.org/licenses/by-nc-sa/4.0/ application/pdf Sage Publications MIT web domain |
| spellingShingle | Richter, Charles Andrew Bry, Adam P. Roy, Nicholas Polynomial Trajectory Planning for Aggressive Quadrotor Flight in Dense Indoor Environments |
| title | Polynomial Trajectory Planning for Aggressive Quadrotor Flight in Dense Indoor Environments |
| title_full | Polynomial Trajectory Planning for Aggressive Quadrotor Flight in Dense Indoor Environments |
| title_fullStr | Polynomial Trajectory Planning for Aggressive Quadrotor Flight in Dense Indoor Environments |
| title_full_unstemmed | Polynomial Trajectory Planning for Aggressive Quadrotor Flight in Dense Indoor Environments |
| title_short | Polynomial Trajectory Planning for Aggressive Quadrotor Flight in Dense Indoor Environments |
| title_sort | polynomial trajectory planning for aggressive quadrotor flight in dense indoor environments |
| url | http://hdl.handle.net/1721.1/106840 https://orcid.org/0000-0003-3765-2021 https://orcid.org/0000-0002-8293-0492 |
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