论文标题
路径计划，然后是多局部航空车辆（MAV）的运动动力平滑
Path Planning Followed by Kinodynamic Smoothing for Multirotor Aerial Vehicles (MAVs)
论文作者
论文摘要
我们探索路径计划，然后进行运动动力学平滑，同时确保MAV的车辆动力学可行性。我们选择了基于几何运动计划技术\ texquotedblleft rrt*\ texquotedblright \;为此目的。在提出的技术中，我们修改了原始RRT*引入自适应搜索空间和转向功能，有助于提高计划者的一致性。此外，我们提出了多个RRT*，只要在其中选择了最佳路径，就会生成一组所需的路径。然后，应用动力学平滑，这将导致动态可行和无障碍物路径。此后，在未知环境中自动操纵基于B样条的轨迹。最后，我们在各种模拟环境中测试了所提出的技术。
We explore path planning followed by kinodynamic smoothing while ensuring the vehicle dynamics feasibility for MAVs. We have chosen a geometrically based motion planning technique \textquotedblleft RRT*\textquotedblright\; for this purpose. In the proposed technique, we modified original RRT* introducing an adaptive search space and a steering function which help to increase the consistency of the planner. Moreover, we propose multiple RRT* which generates a set of desired paths, provided that the optimal path is selected among them. Then, apply kinodynamic smoothing, which will result in dynamically feasible as well as obstacle-free path. Thereafter, a b spline-based trajectory is generated to maneuver vehicle autonomously in unknown environments. Finally, we have tested the proposed technique in various simulated environments.
