TGK-Planner: An Efficient Topology Guided Kinodynamic Planner for Autonomous Quadrotors

Ye, Hongkai; Zhou, Xin; Wang, Zhepei; Xu, Chao; Chu, Jian; Gao, Fei

doi:10.1109/lra.2020.3047798

Cited by 31 publications

(29 citation statements)

References 19 publications

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“…Generating smooth trajectories is important for high-speed applications to avoid sudden changes in actuators’ accelerations and mechanical vibration problems [ 67 ]. Therefore, it can be seen from the literature that control structures II–III are commonly used for aggressive maneuvers, whether by combining path planning and trajectory generation, as in [ 59 , 68 , 69 , 70 , 71 , 72 , 73 , 74 , 75 , 76 ], or by direct trajectory planning, as in [ 77 , 78 , 79 , 80 , 81 , 82 , 83 , 84 , 85 , 86 ].…”

Section: Navigation Techniquesmentioning

confidence: 99%

“…Formulating the 3D trajectory planning as a Quadratic Program (QP) was also considered in [ 71 , 78 , 82 ]. In [ 71 ], an optimization-based method was proposed to generate locally optimal safe trajectories for multi-rotor UAVs using high-order polynomial splines.…”

Section: Navigation Techniquesmentioning

confidence: 99%

“…The work [ 78 ] adopted a mixed-integer quadratic program formulation allowing the solver to choose the trajectory interval allocation, and the time allocation is found by a line search algorithm initialized with a heuristic computed from the previous replanning iteration. Another kinodynamic planner for quadrotors was introduced in [ 82 ] using a sampling-based method in combination with an additional optimization-based stage using a sequence of QPs to refine the smoothness and continuity of the obtained trajectory.…”

Section: Navigation Techniquesmentioning

confidence: 99%

See 2 more Smart Citations

Towards Fully Autonomous UAVs: A Survey

Elmokadem

Savkin

2021

Sensors

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Unmanned Aerial Vehicles have undergone rapid developments in recent decades. This has made them very popular for various military and civilian applications allowing us to reach places that were previously hard to reach in addition to saving time and lives. A highly desirable direction when developing unmanned aerial vehicles is towards achieving fully autonomous missions and performing their dedicated tasks with minimum human interaction. Thus, this paper provides a survey of some of the recent developments in the field of unmanned aerial vehicles related to safe autonomous navigation, which is a very critical component in the whole system. A great part of this paper focus on advanced methods capable of producing three-dimensional avoidance maneuvers and safe trajectories. Research challenges related to unmanned aerial vehicle development are also highlighted.

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Section: Navigation Techniquesmentioning

confidence: 99%

Section: Navigation Techniquesmentioning

confidence: 99%

Section: Navigation Techniquesmentioning

confidence: 99%

See 1 more Smart Citation

Towards Fully Autonomous UAVs: A Survey

Elmokadem

Savkin

2021

Sensors

View full text Add to dashboard Cite

show abstract

“…Generating smooth trajectories is important for high-speed applications to avoid sudden changes in actuators' accelerations and mechanical vibrations problems [67]. Therefore, it can be seen from the literature that control structures II-III are commonly used for aggressive maneuvers whether by combining path planning and trajectory generation as in [59,[68][69][70][71][72][73][74][75] or by direct trajectory planning as in [76][77][78][79][80][81][82][83][84][85].…”

Section: Local Trajectory Planningmentioning

confidence: 99%

“…Formulating the 3D trajectory planning as a Quadratic Program (QP) was also considered in [71,77,81]. In [71], the optimization-based method was proposed to generate locally optimal safe trajectories for multirotor UAVs using high-order polynomial splines.…”

Section: Uav Navigation Techniquesmentioning

confidence: 99%

Advanced Algorithms of Collision Free Navigation and Flocking for Autonomous UAVs

Elmokadem¹

2021

Preprint

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Unmanned aerial vehicles (UAVs) have become very popular for many military and civilian applications including in agriculture, construction, mining, environmental monitoring, etc. A desirable feature for UAVs is the ability to navigate and perform tasks autonomously with least human interaction. This is a very challenging problem due to several factors such as the high complexity of UAV applications, operation in harsh environments, limited payload and onboard computing power and highly nonlinear dynamics. Therefore, more research is still needed towards developing advanced reliable control strategies for UAVs to enable safe navigation in unknown and dynamic environments. This problem is even more challenging for multi-UAV systems where it is more efficient to utilize information shared among the networked vehicles. Therefore, the work presented in this report contributes towards the state-of-the-art in UAV control for safe autonomous navigation and motion coordination of multi-UAV systems. The first part of this report deals with single-UAV systems. Initially, a hybrid navigation framework is developed for autonomous mobile robots using a general 2D nonholonomic unicycle model that can be applied to different types of UAVs, ground vehicles and underwater vehicles considering only lateral motion. Then, the more complex problem of three-dimensional (3D) collision-free navigation in unknown/dynamic environments is addressed. To that end, advanced 3D reactive control strategies are developed adopting the sense-and-avoid paradigm to produce quick reactions around obstacles. A special case of navigation in 3D unknown confined environments (i.e. tunnel-like) is also addressed. General 3D kinematic models are considered in the design which makes these methods applicable to different UAV types in addition to underwater vehicles. Moreover, different implementation methods for these strategies with quadrotor-type UAVs are also investigated considering UAV dynamics in the control design. Practical experiments and simulations were carried out to analyze the performance of the developed methods. The second part of this report addresses safe navigation for multi-UAV systems. Distributed motion coordination methods of multi-UAV systems for flocking and 3D area coverage are developed. These methods offer good computational cost for large-scale systems. Simulations were performed to verify the performance of these methods considering systems with different sizes.

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A Safe Topological Waypoints Searching-Based Conservative Adaptive Motion Planner in Unknown Cluttered Environment

Tan

Xue³

et al. 2021

Lecture Notes of the Institute for Computer Sciences, Social Informatics and Telecommunications Engineering

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TGK-Planner: An Efficient Topology Guided Kinodynamic Planner for Autonomous Quadrotors

Cited by 31 publications

References 19 publications

Towards Fully Autonomous UAVs: A Survey

Towards Fully Autonomous UAVs: A Survey

Advanced Algorithms of Collision Free Navigation and Flocking for Autonomous UAVs

A Safe Topological Waypoints Searching-Based Conservative Adaptive Motion Planner in Unknown Cluttered Environment

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