상세정보
학술지
Quadrotor Path Planning using A* Search Algorithm and Minimum Snap Trajectory Generation
- 발행일
- 202112
- 출처
- ETRI Journal, v.43 no.6, pp.1013-1023
- ISSN
- 1225-6463
- 출판사
- 한국전자통신연구원 (ETRI)
- 협약과제
- 20HS2200, 안전한 무인이동체를 위한 ICT 기반기술 개발, 안재영
- 초록
- 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 제안 키워드
- Outdoor environments, Planning method, Real-world experiment, Search Algorithm(GSA), Simulation and experiment, path planning, trajectory generation
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