Real-time trajectory replanning for MAVs using uniform B-splines and a 3D circular buffer
Usenko V, Von Stumberg L, Pangercic A, Cremers D (2017)
Publication Type: Conference contribution
Publication year: 2017
Journal
Publisher: Institute of Electrical and Electronics Engineers Inc.
Book Volume: 2017-September
Pages Range: 215-222
Conference Proceedings Title: IEEE International Conference on Intelligent Robots and Systems
Event location: Vancouver, BC, CAN
ISBN: 9781538626825
DOI: 10.1109/IROS.2017.8202160
Abstract
In this paper, we present a real-time approach to local trajectory replanning for microaerial vehicles (MAVs). Current trajectory generation methods for multicopters achieve high success rates in cluttered environments, but assume that the environment is static and require prior knowledge of the map. In the presented study, we use the results of such planners and extend them with a local replanning algorithm that can handle unmodeled (possibly dynamic) obstacles while keeping the MAV close to the global trajectory. To ensure that the proposed approach is real-time capable, we maintain information about the environment around the MAV in an occupancy grid stored in a three-dimensional circular buffer, which moves together with a drone, and represent the trajectories by using uniform B-splines. This representation ensures that the trajectory is sufficiently smooth and simultaneously allows for efficient optimization.
Involved external institutions
Germany (DE)How to cite
APA:
Usenko, V., Von Stumberg, L., Pangercic, A., & Cremers, D. (2017). Real-time trajectory replanning for MAVs using uniform B-splines and a 3D circular buffer. In IEEE International Conference on Intelligent Robots and Systems (pp. 215-222). Vancouver, BC, CAN: Institute of Electrical and Electronics Engineers Inc..
MLA:
Usenko, Vladyslav, et al. "Real-time trajectory replanning for MAVs using uniform B-splines and a 3D circular buffer." Proceedings of the 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2017, Vancouver, BC, CAN Institute of Electrical and Electronics Engineers Inc., 2017. 215-222.
BibTeX: Download