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Vector Field Guided RRT* Based on Motion Primitives for Quadrotor Kinodynamic Planning

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Abstract

The intelligent drone is the key device of the future Internet of Drone, and its safe and robust flight in complicated environments still faces challenges. In this paper, we present a sampling-based kinodynamic planning algorithm for quadrotors, which plans a dynamically feasible trajectory in a complicated environment. We have designed a method to constrain the sampling state by using the vector field to construct a cone in the sampling stage of RRT*, so that the generated trajectory is connected as smoothly as possible to other states in the reachable set. The motion primitives are then generated by solving an optimal control problem and an explicit solution of the optimal duration for the motion primitives is given to optimally connect any pair of states. In addition, we have tried a new method to determine the neighbor radius for the non-Euclidean metrics of this paper. Finally, the planned trajectory is applied to the simulated quadrotor, which verifies the dynamic feasibility of the trajectory. Simulation results show that compared with the existing kinodynamic RRT* under the same number of iterations, the proposed algorithm explores more states with a shorter execution time and generates a smoother trajectory.

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Acknowledgements

This study was supported in part by the National Natural Science Foundation of China under Grant 61461013, in part of the Natural Science Foundation of Guangxi Province under Grant 2018GXNSFAA281179, and in part of the Dean Project of Guangxi Key Laboratory of Wireless Broadband Communication and Signal Processing under Grant GXKL06160103.

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Authors and Affiliations

  1. School of Information and Communication, Guilin University of Electronic Technology, Guilin, 541004, China

    Zhiling Tang & Simin Li

  2. School of Electronic Engineering and Automation, Guilin University of Electronic Technology, Guilin, 541004, China

    Bowei Chen

  3. School of Computer and Information Security, Guilin University of Electronic Technology, Guilin, 541004, China

    Rushi Lan

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  1. Zhiling Tang
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  2. Bowei Chen
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  3. Rushi Lan
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  4. Simin Li
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Correspondence to Bowei Chen.

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Tang, Z., Chen, B., Lan, R. et al. Vector Field Guided RRT* Based on Motion Primitives for Quadrotor Kinodynamic Planning. J Intell Robot Syst 100, 1325–1339 (2020). https://doi.org/10.1007/s10846-020-01231-y

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  • DOI: https://doi.org/10.1007/s10846-020-01231-y

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