STD-Trees: Spatio-temporal Deformable Trees for Multirotors Kinodynamic Planning
Hongkai Ye,Chao Xu,Fei Gao,Hongkai Ye,Chao Xu,Fei Gao
In constrained solution spaces with a huge number of homotopy classes, standalone sampling-based kinodynamic planners suffer low efficiency in convergence. Local optimization is integrated to alleviate this problem. In this paper, we propose to thrive the trajectory tree growing by optimizing the tree in the forms of deformation units, and each unit contains one tree node and all the edges connect...
