In this paper, we propose a robust and efficient quadrotor motion planning system for fast flight in 3-D complex environments. We adopt a kinodynamic path searching method to find a safe, kinodynamic feasible and minimumtime initial trajectory in the discretized control space. We improve the smoothness and clearance of the trajectory by a B-spline optimization, which incorporates gradient information from a Euclidean distance field (EDF) and dynamic constraints efficiently utilizing the convex hull property of B-spline. Finally, by representing the final trajectory as a non-uniform B-spline, an iterative time adjustment method is adopted to guarantee dynamically feasible and non-conservative trajectories. We validate our proposed method in various complex simulational environments. The competence of the method is also validated in challenging real-world tasks. We release our code as an open-source package 1 .

No abstract

If it is the author's pre-published version, changes introduced as a result of publishing processes such as copy-editing and formatting may not be reflected in this document. For a definitive version of this work, please refer to the published version.