An Efficient B-Spline-Based Kinodynamic Replanning Framework for Quadrotors

Ding, Wenchao; Gao, Wenliang; Wang, Kaixuan; Shen, Shaojie

doi:10.1109/tro.2019.2926390

Cited by 88 publications

(68 citation statements)

References 45 publications

(137 reference statements)

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“…Fully autonomous navigation in unknown cluttered environments is a challenge for even most state‐of‐the‐art autonomous micro‐aerial robots (Ding, Gao, Wang, & Shen, 2019; Lin et al, 2018). Compared with only frontward perception, omnidirectional perception coverage can result in safer exploration.…”

Section: Resultsmentioning

confidence: 99%

Autonomous aerial robot using dual‐fisheye cameras

Gao

Kaixuan

Ding

et al. 2020

Journal of Field Robotics

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Safety is undoubtedly the most fundamental requirement for any aerial robotic application. It is essential to equip aerial robots with omnidirectional perception coverage to ensure safe navigation in complex environments. In this paper, we present a light-weight and low-cost omnidirectional perception system, which consists of two ultrawide field-of-view (FOV) fisheye cameras and a low-cost inertial measurement unit (IMU). The goal of the system is to achieve spherical omnidirectional sensing coverage with the minimum sensor suite. The two fisheye cameras are mounted rigidly facing upward and downward directions and provide omnidirectional perception coverage: 360°FOV horizontally, 50°FOV vertically for stereo, and whole spherical for monocular. We present a novel optimization-based dualfisheye visual-inertial state estimator to provide highly accurate state-estimation.Real-time omnidirectional three-dimensional (3D) mapping is combined with stereobased depth perception for the horizontal direction and monocular depth perception for upward and downward directions. The omnidirectional perception system is integrated with online trajectory planners to achieve closed-loop, fully autonomous navigation. All computations are done onboard on a heterogeneous computing suite.Extensive experimental results are presented to validate individual modules as well as the overall system in both indoor and outdoor environments.

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Section: Resultsmentioning

confidence: 99%

Autonomous aerial robot using dual‐fisheye cameras

Gao

Kaixuan

Ding

et al. 2020

Journal of Field Robotics

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“…Ratliff et al (2009) proposed the use of covariance gradient technology to improve the quality of the trajectory, but solving nonlinear optimization problems is usually time-consuming and easy to fall into the local minimum. Quinlan and Khatib (1993) were inspired by the elastomer and proposed an elastomer optimization method to improve the trajectory's safety, and this approach was also used in Ding et al (2019). Some other methods expand the path to a safe flight corridor.…”

Section: Related Workmentioning

confidence: 99%

“…Zhou et al (2019) used kinodynamic-A* as the front end. Ding et al (2018Ding et al ( , 2019 proposed a real-time BNUK search algorithm (RBK), which uses a kinodynamic search method to generate a quadrotor trajectory based on B-spline representation. However, the quadrotor trajectory generated by this method has a uniform time-allocation, which leads to suboptimality.…”

Section: Related Workmentioning

confidence: 99%

“…As to the time-allocation of trajectory, which is another significant factor that affects the quality of trajectories. Ding et al (2018Ding et al ( , 2019 refined the control points of B-spline but the duration of segments remains fixed. Fernbach and Tonneau (2018) sampled the duration of the segment until the related quadratic program is solved, but it is not suitable to generate trajectories with many segments.…”

Section: Related Workmentioning

confidence: 99%

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A real‐time quadrotor trajectory planning framework based on B‐spline and nonuniform kinodynamic search

Tang

Wang

Liu

et al. 2020

Journal of Field Robotics

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Autonomous navigation of quadrotor is required by many application scenarios, such as exploration, search, and rescue. The trajectory planning algorithm is the core of autonomous navigation, which can undoubtedly greatly enhance the safety of flight.In this paper, a trajectory planning framework based on B-spline and kinodynamic search is proposed. This framework can be used for a limited-sensing quadrotor to plan safe and dynamically feasible trajectories in unknown environments, and the flight is safe and effective along with these trajectories. First, a B-spline based nonuniform kinodynamic (BNUK) search algorithm is proposed to generate dynamically feasible trajectories efficiently. The characteristics of nonuniform search make the generated trajectories safe and reasonable time-allocation. Then, a trajectory optimization method based on control point optimization is proposed. The trajectory generated by BNUK is further optimized by solving a quadratically constrained quadratic programming problem. The smoothness of the trajectory is improved, and the control cost is reduced. Extensive analysis and comparative

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“…Under this circumstance, the majority of existing path planners [9][10][11] fail to search a collision-free path for mobile robots, due to the conflict caused by moving obstacles. On the contrary, a general motion planner, 12,13 which incorporates temporal and kinodynamic constraints, 14,15 has more success rate in spite of optimality and real-time capability. This is mainly because the obstacles' future proxemic behavior is revealed by adding the time dimension.…”

Section: Introductionmentioning

confidence: 99%

Trend-aware motion planning for wheeled mobile robots operating in dynamic environments

Liu

Dai

Zhang

et al. 2020

International Journal of Advanced Robotic Systems

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Planning collision-free trajectories is essential for wheeled mobile robots operating in dynamic environments safely and efficiently. Most current trajectory generation methods focus on achieving optimal trajectories in static maps and considering dynamic obstacles as static depending on the precise motion estimation of the obstacles. However, in realistic applications, dealing with dynamic obstacles that have low reliable motion estimation is a common situation. Furthermore, inaccurate motion estimation leads to poor quality of motion prediction. To generate safe and smooth trajectories in such a dynamic environment, we propose a motion planning algorithm called trend-aware motion planning (TAMP) for dynamic obstacle avoidance, which combines with timed-elastic band. Instead of considering dynamic obstacles as static, our planning approach predicts the moving trends of the obstacles based on the given estimation. Subsequently, the approach generates a trajectory away from dynamic obstacles, meanwhile, avoiding the moving trends of the obstacles. To cope with multiple constraints, an optimization approach is adopted to refine the generated trajectory and minimize the cost. A comparison of our approach against other state-of-the-art methods is conducted. Results show that trajectories generated by TAMP are robust to handle the poor quality of obstacles’ motion prediction and have better efficiency and performance.

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An Efficient B-Spline-Based Kinodynamic Replanning Framework for Quadrotors

Cited by 88 publications

References 45 publications

Autonomous aerial robot using dual‐fisheye cameras

Autonomous aerial robot using dual‐fisheye cameras

A real‐time quadrotor trajectory planning framework based on B‐spline and nonuniform kinodynamic search

Trend-aware motion planning for wheeled mobile robots operating in dynamic environments

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