4 research outputs found
Reactive Trajectory Generation in an Unknown Environment
Autonomous trajectory generation for unmanned aerial vehicles (UAVs) in
unknown environments continues to be an important research area as UAVs become
more prolific. We define a trajectory generation algorithm for a vehicle in an
unknown environment with wind disturbances, that relies only on the vehicle's
on-board distance sensors and communication with other vehicles within a finite
region to generate a smooth, collision-free trajectory up to the fourth
derivative. The proposed trajectory generation algorithm can be used in
conjunction with high-level planners and low-level motion controllers. The
algorithm provides guarantees that the trajectory does not violate the
vehicle's thrust limitation, sensor constraints, or a user-defined clearance
radius around other vehicles and obstacles. Simulation results of a quadrotor
moving through an unknown environment with a moving obstacle demonstrates the
trajectory generation performance.Comment: Revised version with minor text updates and more representative
simulation results for IROS 2017 conferenc