Dynamic Free-Space Roadmap for Safe Quadrotor Motion Planning
Junlong Guo,Zhiren Xun,Shuang Geng,Yi Lin,Chao Xu,Fei Gao,Junlong Guo,Zhiren Xun,Shuang Geng,Yi Lin,Chao Xu,Fei Gao
Free-space-oriented roadmaps typically generate a series of convex geometric primitives, which constitute the safe region for motion planning. However, a static environment is assumed for this kind of roadmap. This assumption makes it unable to deal with dynamic obstacles and limits its applications. In this paper, we present a dynamic free-space roadmap, which provides feasible spaces and a navig...
