Robust Real-time UAV Replanning Using Guided Gradient-based Optimization and Topological Paths
Boyu Zhou,Fei Gao,Jie Pan,Shaojie Shen,Boyu Zhou,Fei Gao,Jie Pan,Shaojie Shen
Gradient-based trajectory optimization (GTO) has gained wide popularity for quadrotor trajectory replanning. However, it suffers from local minima, which is not only fatal to safety but also unfavorable for smooth navigation. In this paper, we propose a replanning method based on GTO addressing this issue systematically. A path-guided optimization (PGO) approach is devised to tackle infeasible loc...
