3D-OGSE: Online Smooth Trajectory Generation for Quadrotors using Generalized Shape Expansion in Unknown 3D Environments
3D-OGSE: Online Smooth Trajectory Generation for Quadrotors using Generalized Shape Expansion in Unknown 3D Environments
Vrushabh Zinage,Senthil Hariharan Arul,Dinesh Manocha
2020 · DBLP: journals/corr/abs-2005-13229
arXiv.org · 4 Citations
TLDR
The proposed algorithm for generating smooth, collision-free trajectories for quadrotors operating in an unknown, cluttered 3D environment is 6-10x faster than prior online motion planning methods, and the method is less conservative behavior in complex scenarios such as narrow passages.