Towards the realtime sampling-based kinodynamic planning for quadcopters

Abstract

This paper presents a sampling-based kinodynamic planning algorithm for quadcopters which have a high dimensional state space amid state constraints. The proposed approach utilizes BIT∗ as the main planner to perform the ordered search directly in state space, without decoupling the geometric and dynamic constraints. Instead of using a general BVP solver… (More)
DOI: 10.1109/ASCC.2017.8287268

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