Fast Generation of Obstacle-Avoiding Motion Primitives for Quadrotors
Saurabh Upadhyay,Thomas Richardson,Arthur Richards,Saurabh Upadhyay,Thomas Richardson,Arthur Richards
This work considers the problem of generating computationally efficient quadrotor motion primitives between a given pose (position, velocity, and acceleration) and a goal plane in the presence of obstacles. A new motion primitive tool based on the logistic curve is proposed and a closed-form analytic approach is developed to satisfy constraints on starting pose, goal plane, velocity, acceleration,...
