Search-based motion planning for quadrotors using linear quadratic minimum time control

@article{Liu2017SearchbasedMP,
  title={Search-based motion planning for quadrotors using linear quadratic minimum time control},
  author={Sikang Liu and Nikolay Atanasov and Kartik Mohta and Vijay Kumar},
  journal={2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
  year={2017},
  pages={2872-2879}
}
In this work, we propose a search-based planning method to compute dynamically feasible trajectories for a quadrotor flying in an obstacle-cluttered environment. Our approach searches for smooth, minimum-time trajectories by exploring the map using a set of short-duration motion primitives. The primitives are generated by solving an optimal control problem and induce a finite lattice discretization on the state space which can be explored using a graph-search algorithm. The proposed approach is… CONTINUE READING

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