Trajectory Planning with Safety Guaranty for a Multirotor based on the Forward and Backward Reachability Analysis
Hoseong Seo,Clark Youngdong Son,Dongjae Lee,H. Jin Kim,Hoseong Seo,Clark Youngdong Son,Dongjae Lee,H. Jin Kim
Planning a trajectory with guaranteed safety is a core part for a risk-free flight of a multirotor. If a trajectory planner only aims to ensure safety, it may generate trajectories which overly bypass risky regions and prevent the system from achieving specific missions. This work presents a robust trajectory planning algorithm which simultaneously guarantees the safety and reachability to the tar...
