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

Zhou, Boyu; Gao, Fei; Pan, Jie; Shen, Shaojie

doi:10.1109/icra40945.2020.9196996

“…Other methods [16], [17], [18], [19] that also leverage the differential flatness property use B-spline representation for trajectory optimization. These methods jointly optimize smoothness, dynamic feasibility, collision cost, and also safety [18] or visual tracking objectives [19].…”

Section: Related Workmentioning

confidence: 99%

Minimum-Time Quadrotor Waypoint Flight in Cluttered Environments

Pěnička

¹

,

Scaramuzza

²

2022

IEEE Robot. Autom. Lett.

View full text Add to dashboard Cite

We tackle the problem of planning a minimum-time trajectory for a quadrotor over a sequence of specified waypoints in the presence of obstacles while exploiting the full quadrotor dynamics. This problem is crucial for autonomous search and rescue and drone racing scenarios but was, so far, unaddressed by the robotics community in its entirety due to the challenges of minimizing time in the presence of the non-convex constraints posed by collision avoidance. Early works relied on simplified dynamics or polynomial trajectory representations that did not exploit the full actuator potential of a quadrotor and, thus, did not aim at minimizing time. We address this challenging problem by using a hierarchical, sampling-based method with an incrementally more complex quadrotor model. Our method first finds paths in different topologies to guide subsequent trajectory search for a kinodynamic point-mass model. Then, it uses an asymptotically-optimal, kinodynamic sampling-based method based on a full quadrotor model on top of the point-mass solution to find a feasible trajectory with a time-optimal objective. The proposed method is shown to outperform all related baselines in cluttered environments and is further validated in real-world flights at over 60km/h in one of the world's largest motion capture systems. We release the code open source.

show abstract

“…(Zhou et al, 2019b) proposed a spline-based optimization in which kinodynamic A* is used to find a feasible collision-free path for a quadrotor. In (Zhou et al, 2019a), researchers first generated topological paths and then utilized a guided gradient optimization-based technique for trajectory generation. The Minimum-snap (Mellinger and Kumar, 2011) one of the successful techniques was proposed for trajectory generation in which differential flatness (Van Nieuwstadt and Murray, 1998) property was used to navigate the quadrotor.…”

Section: Trajectory Generationmentioning

confidence: 99%

Trajectory Tracking For Quadrotors: An Optimization-Based Planning Followed By Controlling Approach

Kulathunga

¹

,

Devitt

²

,

Klimchik

³

2021

Preprint

View full text Add to dashboard Cite

We present an optimization-based reference trajectory tracking method for quadrotor robots for slow-speed maneuvers. The proposed method uses planning followed by the controlling paradigm. The basic concept of the proposed method is an analogy to Linear Quadratic Gaussian (LQG) in which Nonlinear Model Predictive Control (NMPC) is employed for predicting optimal control policy in each iteration. Multiple-shooting (MS) is suggested over Direct-collocation (DC) for imposing constraints when modelling the NMPC. Incremental Euclidean Distance Transformation Map (EDTM) is constructed for obtaining the closest free distances relative to the predicted trajectory; these distances are considered obstacle constraints. The reference trajectory is generated, ensuring dynamic feasibility. The objective is to minimize the error between the quadrotor’s current pose and the desired reference trajectory pose in each iteration. Finally, we evaluated the proposed method with two other approaches and showed that our proposal is better than those two in terms of reaching the goal without any collision. Additionally, we published a new dataset, which can be used for evaluating the performance of trajectory tracking algorithms.

show abstract

“…Luqi et al 12 proposed a spline-based optimization in which kinodynamic A* is used to find a feasible collision-free path for a quadrotor. In 13 , researchers first generated topological paths and then utilized a guided gradient optimization-based technique for trajectory generation. The Minimum-snap 14 one of the successful techniques was proposed for trajectory generation in which differential flatness 15 property was used to navigate the quadrotor.…”

Section: Trajectory Generationmentioning

confidence: 99%

Trajectory Tracking For Quadrotors: An Optimization-Based Planning Followed By Controlling Approach

Kulathunga

¹

,

Devitt

²

,

Klimchik

³

2021

Preprint

0

View full text Add to dashboard Cite

We present an optimization-based reference trajectory tracking method for quadrotor robots for slow-speed maneuvers. The proposed method uses planning followed by the controlling paradigm. The basic concept of the proposed method is an analogy to Linear Quadratic Gaussian (LQG) in which Nonlinear Model Predictive Control (NMPC) is employed for predicting optimal control policy in each iteration. Multiple-shooting (MS) is suggested over Direct-collocation (DC) for imposing constraints when modelling the NMPC. Incremental Euclidean Distance Transformation Map (EDTM) is constructed for obtaining the closest free distances relative to the predicted trajectory; these distances are considered obstacle constraints. The reference trajectory is generated, ensuring dynamic feasibility. The objective is to minimize the error between the quadrotor’s current pose and the desired reference trajectory pose in each iteration. Finally, we evaluated the proposed method with two other approaches and showed that our proposal is better than those two in terms of reaching the goal without any collision. Additionally, we published a new dataset, which can be used for evaluating the performance of trajectory tracking algorithms.

show abstract

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

Cited by 103 publications

References 21 publications

Minimum-Time Quadrotor Waypoint Flight in Cluttered Environments

Minimum-Time Quadrotor Waypoint Flight in Cluttered Environments

Trajectory Tracking For Quadrotors: An Optimization-Based Planning Followed By Controlling Approach

Trajectory Tracking For Quadrotors: An Optimization-Based Planning Followed By Controlling Approach

Contact Info

Product

Resources

About