2020/08/29 by Geesara Kulathunga, Dmitry Devitt, Kulathunga, Geesara +7 · 2 citations
Computer Science · Engineering · #Computer Vision and Pattern Recognition (cs.CV) #Control and Dynamics of Mobile Robots #FOS: Computer and information sciences #FOS: Mathematics #Guidance and Control Systems #Optimization and Control (math.OC) #Robotic Path Planning Algorithms #Robotics (cs.RO)
paper · pdf · doi:10.48550/arxiv.2008.12950
openalex publication_date 2020/08/29 · openalex created_date 2025/10/10 · openalex updated_date 2026/07/28
We explore path planning followed by kinodynamic smoothing while ensuring the vehicle dynamics feasibility for MAVs. We have chosen a geometrically based motion planning technique \textquotedblleft RRT*\textquotedblright for this purpose. In the proposed technique, we modified original RRT* introducing an adaptive search space and a steering function which help to increase the consistency of the planner. Moreover, we propose multiple RRT* which generates a set of desired paths, provided that the optimal path is selected among them. Then, apply kinodynamic smoothing, which will result in dynamically feasible as well as obstacle-free path. Thereafter, a b spline-based trajectory is generated to maneuver vehicle autonomously in unknown environments. Finally, we have tested the proposed technique in various simulated environments.