Bubble Planner: Planning High-speed Smooth Quadrotor Trajectories using Receding Corridors
Yunfan Ren,Fangcheng Zhu,Wenyi Liu,Zhepei Wang,Yi Lin,Fei Gao,Fu Zhang,Yunfan Ren,Fangcheng Zhu,Wenyi Liu,Zhepei Wang,Yi Lin,Fei Gao,Fu Zhang
Quadrotors are agile platforms. With human experts, they can perform extremely high-speed flights in cluttered environments. However, fully autonomous flight at high speed remains a significant challenge. In this work, we propose a motion planning algorithm based on the corridor-constrained minimum control effort trajectory optimization (MINCO) framework. Specifically, we use a series of overlappi...
