Work

Quad-Rotor Avoidance Trajectory Generation for Convex Polyhedron Obstacles

Year: 2024

Type: article

Abstract: This study investigates a method for generating obstacle avoidance trajectories for arbitrary convex polyhedrons. We propose a formulation that converts discrete conditions into continuous equation forms to avoid convex polyhedron obstacles. The condition that the evaluation point be located outside of the convex polyhedron can be transformed into a constraint in the continuous equation form and incorporated into the optimization calculation to generate avoidance trajectories. Avoidance trajectory generation using the Legendre pseudospectral method is performed for convex polyhedral obstacles of various shapes. The results show that the proposed method successfully generates avoidance trajectories for arbitrary convex polyhedral obstacles.

Source: Journal of Robotics and Mechatronics

DOI: 10.20965/jrm.2024.p1065

Authors: Yoshihide Arai, Takashi Sago, Yuki Ueyama, Masanori Harada

Institution: National Defense Academy of Japan

Language: English

Topic: Robotic Path Planning Algorithms

Subfield: Computer Vision and Pattern Recognition

Field: Computer Science

Domain: Physical Sciences

Open Access status: diamond

Funder: Japan Society for the Promotion of Science

Award: Development of a Real-Time Optimal Control Algorithm for Drones to Avoid Multiple Falling Obstacles