Quadrotor Trajectory Planning with Tetrahedron Partitions and B-Splines in Unknown and Dynamic Environments
Trajectory planning is a key task in unmanned aerial vehicle navigation systems. Although trajectory planning in the presence of obstacles is a well-understood problem, unknown and dynamic environments still present significant challenges. In this paper, we present a trajectory planning method for u...
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MDPI AG
2024-12-01
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| Series: | Robotics |
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| Online Access: | https://www.mdpi.com/2218-6581/14/1/3 |
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| author | Jiayu Men Jesús Requena Carrión |
| author_facet | Jiayu Men Jesús Requena Carrión |
| author_sort | Jiayu Men |
| collection | DOAJ |
| description | Trajectory planning is a key task in unmanned aerial vehicle navigation systems. Although trajectory planning in the presence of obstacles is a well-understood problem, unknown and dynamic environments still present significant challenges. In this paper, we present a trajectory planning method for unknown and dynamic environments that explicitly incorporates the uncertainty about the environment. Assuming that the position of obstacles and their instantaneous movement are available, our method represents the environment uncertainty as a dynamic map that indicates the probability that a region might be occupied by an obstacle in the future. The proposed method first divides the free space into non-overlapping tetrahedral partitions using Delaunay triangulation. Then, a topo-graph that describes the topology of the free space and incorporates the uncertainty of the environment is created. Using this topo-graph, an initial path and a safe flight corridor are obtained. The initial safe flight corridor provides a sequence of control points that we use to optimize clamped B-spline trajectories by formulating a quadratic programming problem with safety and smoothness constraints. Using computer simulations, we show that our algorithm can successfully find a collision-free and uncertainty-aware trajectory in an unknown and dynamic environment. Furthermore, our method can reduce the computational burden caused by moving obstacles during trajectory replanning. |
| format | Article |
| id | doaj-art-5a97a4e62c8241f9852d22e361657e6d |
| institution | Kabale University |
| issn | 2218-6581 |
| language | English |
| publishDate | 2024-12-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Robotics |
| spelling | doaj-art-5a97a4e62c8241f9852d22e361657e6d2025-01-24T13:48:22ZengMDPI AGRobotics2218-65812024-12-01141310.3390/robotics14010003Quadrotor Trajectory Planning with Tetrahedron Partitions and B-Splines in Unknown and Dynamic EnvironmentsJiayu Men0Jesús Requena Carrión1School of Electronic Engineering and Computer Science, Queen Mary University of London, Mile End Road, London E1 4NS, UKSchool of Electronic Engineering and Computer Science, Queen Mary University of London, Mile End Road, London E1 4NS, UKTrajectory planning is a key task in unmanned aerial vehicle navigation systems. Although trajectory planning in the presence of obstacles is a well-understood problem, unknown and dynamic environments still present significant challenges. In this paper, we present a trajectory planning method for unknown and dynamic environments that explicitly incorporates the uncertainty about the environment. Assuming that the position of obstacles and their instantaneous movement are available, our method represents the environment uncertainty as a dynamic map that indicates the probability that a region might be occupied by an obstacle in the future. The proposed method first divides the free space into non-overlapping tetrahedral partitions using Delaunay triangulation. Then, a topo-graph that describes the topology of the free space and incorporates the uncertainty of the environment is created. Using this topo-graph, an initial path and a safe flight corridor are obtained. The initial safe flight corridor provides a sequence of control points that we use to optimize clamped B-spline trajectories by formulating a quadratic programming problem with safety and smoothness constraints. Using computer simulations, we show that our algorithm can successfully find a collision-free and uncertainty-aware trajectory in an unknown and dynamic environment. Furthermore, our method can reduce the computational burden caused by moving obstacles during trajectory replanning.https://www.mdpi.com/2218-6581/14/1/3trajectory planningaerial vehiclesquadratic programmingB-spline function-based trajectory |
| spellingShingle | Jiayu Men Jesús Requena Carrión Quadrotor Trajectory Planning with Tetrahedron Partitions and B-Splines in Unknown and Dynamic Environments Robotics trajectory planning aerial vehicles quadratic programming B-spline function-based trajectory |
| title | Quadrotor Trajectory Planning with Tetrahedron Partitions and B-Splines in Unknown and Dynamic Environments |
| title_full | Quadrotor Trajectory Planning with Tetrahedron Partitions and B-Splines in Unknown and Dynamic Environments |
| title_fullStr | Quadrotor Trajectory Planning with Tetrahedron Partitions and B-Splines in Unknown and Dynamic Environments |
| title_full_unstemmed | Quadrotor Trajectory Planning with Tetrahedron Partitions and B-Splines in Unknown and Dynamic Environments |
| title_short | Quadrotor Trajectory Planning with Tetrahedron Partitions and B-Splines in Unknown and Dynamic Environments |
| title_sort | quadrotor trajectory planning with tetrahedron partitions and b splines in unknown and dynamic environments |
| topic | trajectory planning aerial vehicles quadratic programming B-spline function-based trajectory |
| url | https://www.mdpi.com/2218-6581/14/1/3 |
| work_keys_str_mv | AT jiayumen quadrotortrajectoryplanningwithtetrahedronpartitionsandbsplinesinunknownanddynamicenvironments AT jesusrequenacarrion quadrotortrajectoryplanningwithtetrahedronpartitionsandbsplinesinunknownanddynamicenvironments |