TGK-Planner: An Efficient Topology Guided Kinodynamic Planner for Autonomous Quadrotors

08/08/2020
by   Hongkai Ye, et al.
0

In this paper, we propose a lightweight yet effective quadrotor planning system for aggressive flights with limited onboard computing resources. The proposed system follows the traditional hierarchical planning workflow, with novel designs to improve the robustness and efficiency in both the pathfinding and trajectory optimization sub-modules. Firstly, we propose the topology guided graph, which roughly captures the topological structure of the environment and guides the state sampling of a sampling-based kinodynamic planner. In this way, we significantly improve the efficiency of finding a safe and dynamically feasible trajectory. Then, we refine the smoothness and continuity of the trajectory in an optimization framework, which incorporates the homotopy constraint to guarantee the safety of the trajectory. The optimization program is formulated as a sequence of quadratic programmings (QPs) and can be iteratively solved in a few milliseconds. Finally, the proposed system is integrated into a fully autonomous quadrotor and validated in various simulated and real-world scenarios. Benchmark comparisons show that our method outperforms state-of-the-art methods with regard to efficiency and trajectory quality. Moreover, we will release our code as an open-source package.

READ FULL TEXT

page 1

page 2

page 4

page 7

page 8

07/02/2019

Robust and Efficient Quadrotor Trajectory Generation for Fast Autonomous Flight

In this paper, we propose a robust and efficient quadrotor motion planni...
11/09/2020

EVA-Planner: Environmental Adaptive Quadrotor Planning

Due to its superior agility and flexibility, quadrotor is popularly used...
10/29/2020

Online State-Time Trajectory Planning Using Timed-ESDF in Highly Dynamic Environments

Online state-time trajectory planning in highly dynamic environments rem...
12/29/2019

Robust Real-time UAV Replanning Using Guided Gradient-based Optimization and Topological Paths

Gradient-based trajectory optimization (GTO) has gained wide popularity ...
11/21/2019

Integrated Motion Planner for Real-time Aerial Videography with a Drone in a Dense Environment

This letter suggests an integrated approach for a drone (or multirotor) ...
08/20/2020

EGO-Planner: An ESDF-free Gradient-based Local Planner for Quadrotors

Gradient-based planners are widely used for quadrotor local planning, in...
10/30/2020

Adversarial Attacks on Optimization based Planners

Trajectory planning is a key piece in the algorithmic architecture of a ...