文章基本信息

标题：Real-time Trajectory Generation for Multiple Drones using Bézier Curves ⁎
本地全文：下载
作者：Bahareh Sabetghadam ; Rita Cunha ; António Pascoal 等
期刊名称：IFAC PapersOnLine
印刷版ISSN：2405-8963
出版年度：2020
卷号：53
期号：2
页码：9276-9281
DOI：10.1016/j.ifacol.2020.12.2380
语种：English
出版社：Elsevier
摘要：AbstractPractical applications of drones are expanding into many new areas due to their fast-evolving technology. Looking further into the future, it is very likely that applications will require more than one drone to tackle a specific task, calling for reliable and efficient algorithms that can generate collision-free trajectories for multiple drones, under timing constraints of real-time applications. In this paper, we study a motion planning method based on the Bézier parametrization of spatial paths with a special focus on the less addressed issue in this method, (inefficient) constraint evaluation, that might hinder its use in real-time trajectory generation for multi-drone applications. We take advantage of the Bézier curves properties to obtain a small-scale optimization problem and find a finite set of inequalities that guarantee constraints satisfaction. We also propose a method to lower the conservatism in the resulting set of inequalities without the need to use unnecessary high-degree Bézier curves. Numerical results illustrate the efficacy of the presented method in reducing the computational costs associated with generating collision-free trajectories for multiple drones and re-planning them online with a receding horizon.
关键词：KeywordsTrajectory GenerationReal-timeBezier Curves