Motion Planning
Résumé
This chapter presents a kinodynamic motion planner for computing agile motions of quad-rotor-like aerial robots in constrained environments. Based on a simple dynamic model of the UAV, a computationally-efficient local planner is proposed to generate flyable trajectories of minimal time. This local planner is then integrated as a key component for global motion planning using different approaches. The good performance of the proposed methods is illustrated with results in simulation , as well as a preliminary experimentation with a real quad-rotor.
Domaines
Robotique [cs.RO]Origine | Fichiers produits par l'(les) auteur(s) |
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