Planning Dynamically Feasible Trajectories for Quadrotors Using Safe Flight Corridors in 3-D Complex Environments

There is extensive literature on using convex optimization to derive piece-wise polynomial trajectories for controlling differential flat systems with applications to three-dimensional flight for Micro Aerial Vehicles. In this work, we propose a method to formulate trajectory generation as a quadratic program (QP) using the concept of a Safe Flight Corridor (SFC). The SFC is a collection of convex overlapping polyhedra that models free space and provides a connected path from the robot to the goal position. We derive an efficient convex decomposition method that builds the SFC from a piece-wise linear skeleton obtained using a fast graph search technique. The SFC provides a set of linear inequality constraints…

• NS
  National Science Foundation

  Award: IIS-1426840
• AO
  Association of Research Libraries

  Award: W911NF-08-2-0004
• DA
  Defense Advanced Research Projects Agency

  Award: HR001151626/HR0011516850