A quadrotor unmanned aerial vehicle trajectory generation algorithm based on RRT-JPS and corridors

Hao Liu; Mengmeng Yin; Zheng Wu; Fanbiao Li

doi:10.1117/12.2684771

19 October 2023 A quadrotor unmanned aerial vehicle trajectory generation algorithm based on RRT-JPS and corridors

Hao Liu, Mengmeng Yin, Zheng Wu, Fanbiao Li

Proceedings Volume 12709, Fourth International Conference on Artificial Intelligence and Electromechanical Automation (AIEA 2023); 127093E (2023) https://doi.org/10.1117/12.2684771
Event: Fourth International Conference on Artificial Intelligence and Electromechanical Automation (AIEA 2023), 2023, Nanjing, China

Abstract

This paper proposes a novel algorithm about generating trajectory planning for quadrotor unmanned aerial vehicle (UAV) using fusion algorithm, In the path search part, this paper uses the fusion algorithm based on rapidly-exploring random tree (RRT) and jump point search (JPS), and uses the algorithm based on flight corridor in the trajectory generation stage. Firstly, we use grid map to store the environment information, which is the best mapping way for JPS. Based on JPS algorithm, we adopt RRT-JPS algorithm by combine JPS with the improved RRT algorithm, to enhance the smoothness and speed of path search. Then, by expanding the path block selected by RRT-JPS algorithm, a safe flight corridor can be generated. Finally, by adding time and energy consumption to the cost function in the trajectory optimization algorithm, optimization result can be faster under the premise of ensuring smoothness. The simulation and experimental results show the application of the method is smoother and fewer resource consumption.

Citation Download Citation

Hao Liu, Mengmeng Yin, Zheng Wu, and Fanbiao Li "A quadrotor unmanned aerial vehicle trajectory generation algorithm based on RRT-JPS and corridors", Proc. SPIE 12709, Fourth International Conference on Artificial Intelligence and Electromechanical Automation (AIEA 2023), 127093E (19 October 2023); https://doi.org/10.1117/12.2684771

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