Online Whole-Body Motion Planning for Quadrotor using Multi-Resolution Search
Yunfan Ren,Siqi Liang,Fangcheng Zhu,Guozheng Lu,Fu Zhang,Yunfan Ren,Siqi Liang,Fangcheng Zhu,Guozheng Lu,Fu Zhang
In this paper, we address the problem of online quadrotor whole-body motion planning (SE(3) planning) in unknown and unstructured environments. We propose a novel multi-resolution search method, which discovers narrow areas requiring full pose planning and normal areas requiring only position planning. As a consequence, a quadrotor planning problem is decomposed into several SE(3) (if necessary) a...
