Name
Title | ||
|---|---|---|
Real-time trajectory replanning for MAVs using uniform B-splines and a 3D circular buffer |
Abstract | ||
|---|---|---|
In this paper, we present a real-time approach to local trajectory replanning for microaerial vehicles (MAVs). Current trajectory generation methods for multicopters achieve high success rates in cluttered environments, but assume that the environment is static and require prior knowledge of the map. In the presented study, we use the results of such planners and extend them with a local replanning algorithm that can handle unmodeled (possibly dynamic) obstacles while keeping the MAV close to the global trajectory. To ensure that the proposed approach is real-time capable, we maintain information about the environment around the MAV in an occupancy grid stored in a three-dimensional circular buffer, which moves together with a drone, and represent the trajectories by using uniform B-splines. This representation ensures that the trajectory is sufficiently smooth and simultaneously allows for efficient optimization. |
Year | DOI | Venue |
|---|---|---|
2017 | 10.1109/IROS.2017.8202160 | 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) |
Keywords | Field | DocType |
uniform B-splines,3D circular buffer,microaerial vehicles,cluttered environments,MAV,real-time trajectory replanning,local trajectory replanning,trajectory generation methods,unmodeled obstacles handling,drone,optimization,multicopters | Spline (mathematics),Control theory,Computer science,Circular buffer,Control engineering,Drone,Trajectory,Occupancy grid mapping | Conference |
Volume | ISSN | ISBN |
abs/1703.01416 | 2153-0858 | 978-1-5386-2683-2 |
Citations | PageRank | References |
6 | 0.47 | 13 |
Authors | ||
4 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| Vladyslav C. Usenko | 1 | 52 | 8.53 |
| Lukas von Stumberg | 2 | 20 | 3.70 |
| Andrej Pangercic | 3 | 6 | 0.47 |
| Daniel Cremers | 4 | 8236 | 396.86 |