Motion Planning

Alexandre Boeuf (1) , Juan Cortés (1) , Thierry Simeon (1)

1 LAAS-RIS - Équipe Robotique et InteractionS

This chapter presents a kinodynamic motion planner for computing agile motions of quad-rotor-like aerial robots in constrained environments. Based on a simple dynamic model of the UAV, a computationally-efficient local planner is proposed to generate flyable trajectories of minimal time. This local planner is then integrated as a key component for global motion planning using different approaches. The good performance of the proposed methods is illustrated with results in simulation , as well as a preliminary experimentation with a real quad-rotor.

Domaines: Robotique [cs.RO]

Alexandre Boeuf, Juan Cortés, Thierry Simeon. Motion Planning. Aerial Robotic Manipulation, pp.317-332, 2019, 978-3-030-12945-3. ⟨10.1007/978-3-030-12945-3_23⟩. ⟨hal-02191300⟩