Yadav, Indrajeet (University of Delaware), Tanner, Herbert G. (University of Delaware)

Exact Reactive Receding Horizon Motion Planning for Aerial Vehicles

Scheduled for presentation during the Regular Session "Path Planning V" (ThC3), Thursday, June 17, 2021, 17:00−17:20, Edessa

2021 International Conference on Unmanned Aircraft Systems (ICUAS), June 15-18, 2021, Athens, Greece

This information is tentative and subject to change. Compiled on April 25, 2024

Abstract

This article presents a motion planning strategy that integrates a reactive receding horizon local trajectory generation methodology with a navigation function based global planner to guarantee that a quadrotor type acs{mav} navigating in partially-known cluttered environment can reach its goal. The environment is partially known in the sense that there can be obstacles which are not a priori known to be included in the navigation function construction and used by the global planner. These obstacles are avoided reactively at the level of the local planner, which reacts to sensing information within the ac{fov} of the onboard sensors and keeps generating dynamically feasible safe trajectories along the segments generated by the global planner. The proposed motion planning strategy combines the advantages of global and reactive aerial navigation, producing locally optimal (in a minimum-jerk sense) vehicle motion. The effectiveness of the planner is demonstrated through realistic acs{ros}-Gazebo simulations.