Efficient Sampling-based Multirotors Kinodynamic Planning with Fast Regional Optimization and Post Refining
Hongkai Ye,Neng Pan,Qianhao Wang,Chao Xu,Fei Gao,Hongkai Ye,Neng Pan,Qianhao Wang,Chao Xu,Fei Gao
For real-time multirotor kinodynamic planning, the efficiency of sampling-based methods is usually hindered by difficult-to-sample homotopy classes like narrow passages. In this paper, we address this issue by a hybrid scheme. We firstly propose a fast regional optimizer exploiting the information of local environments and then integrate it into a bidirectional global sampling process. The incorpo...
