1. A real-time framework for kinodynamic planning in dynamic environments with application to quadrotor obstacle avoidance.
- Author
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Allen, Ross E. and Pavone, Marco
- Subjects
- *
ROBOT programming , *CYBER physical systems , *OBSTACLE avoidance (Robotics) , *PLANNING , *NATURE & nurture - Abstract
Abstract The objective of this paper is to present a full-stack, real-time motion planning framework for kinodynamic robots and then show how it is applied and demonstrated on a physical quadrotor system operating in a laboratory environment. The proposed framework utilizes an offline–online computation paradigm, neighborhood classification through machine learning, sampling-based motion planning with an optimal cost distance metric, and trajectory smoothing to achieve real-time planning for aerial vehicles. This framework accounts for dynamic obstacles with an event-based replanning structure and a locally reactive control layer that minimizes replanning events. The approach is demonstrated on a quadrotor navigating moving obstacles in an indoor space and stands as, arguably, one of the first demonstrations of full-online kinodynamic motion planning, with execution cycles of 3 Hz to 5 Hz. For the quadrotor, a simplified dynamics model is used during the planning phase to accelerate online computation. A trajectory smoothing phase, which leverages the differentially flat nature of quadrotor dynamics, is then implemented to guarantee a dynamically feasible trajectory. Highlights • Full-stack framework for path planning and obstacle avoidance for agile robots. • Demonstrated on a quadrotor capable of dodging a fencing blade while flying indoors. • Fusion of sampling-based planning, machine learning, and reactive control. [ABSTRACT FROM AUTHOR]
- Published
- 2019
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