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Journal Article
Quadrotor Path Planning using A* Search Algorithm and Minimum Snap Trajectory Generation
- Authors
- Youkyung Hong, Suseong Kim, Yookyung Kim, Jihun Cha
- Issue Date
- 2021-12
- Citation
- ETRI Journal, v.43, no.6, pp.1013-1023
- ISSN
- 1225-6463
- Publisher
- 한국전자통신연구원 (ETRI)
- Language
- English
- Type
- Journal Article
- Abstract
- In this study, we propose a practical path planning method that combines the A* search algorithm and minimum snap trajectory generation. The A* search algorithm determines a set of waypoints to avoid collisions with surrounding obstacles from a starting to a destination point. Only essential waypoints (waypoints necessary to generate smooth trajectories) are extracted from the waypoints determined by the A* search algorithm, and an appropriate time between two adjacent waypoints is allocated. The waypoints so determined are connected by a smooth minimum snap trajectory, a dynamically executable trajectory for the quadrotor. If the generated trajectory is invalid, we methodically determine when intermediate waypoints are needed and how to insert the points to modify the trajectory. We verified the performance of the proposed method by various simulation experiments and a real-world experiment in a forested outdoor environment.
- KSP Keywords
- Outdoor environments, Planning method, Real-world experiment, Search Algorithm(GSA), Simulation and experiment, path planning, trajectory generation
This work is distributed under the term of Korea Open Government License (KOGL)
(Type 4: : Type 1 + Commercial Use Prohibition+Change Prohibition)
(Type 4: : Type 1 + Commercial Use Prohibition+Change Prohibition)
