A new method to improve path planning
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Path planning algorithms (Jump point search, JPS-PF )
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Generating Convex Polytopes(Safe Flight Corridors)
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Time Allocation(Average time allocation, Trapezoidal time allocation)
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Trajectory planning(QP)
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Trajectory following control(PD controller)
MATLAB(R2019b is tested)
Run the demo map script (Only three maps have been released so far) ：
demo_3dCorner.m
demo_ellipsoid.m
demo_Z_3blocks.m
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Same starting point and ending point
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same total planning time, use trapezoidal time allocation
| Method | JPS | JPS-PF |
|---|---|---|
| trajectory |  |
 |
| SFC |  |
 |
| Avg_speed | 0.8 | 1.0767 |
| Time | 4.3681 | 4.3681 |
| miniSnap | 895.7681 | 350.3038 |
| Method | JPS | JPS-PF |
|---|---|---|
| trajectory |  |
 |
| Top view |  |
 |
| Avg_speed | 1.10423 | 1.4 |
| Time | 12.9343 | 12.9343 |
| miniSnap | 300.3111 | 58.376 |
[1] D. Harabor and A. Grastien. 2011. "Online Graph Pruning for Pathfinding on Grid Maps". In Proceedings of the 25th National Conference on Artificial Intelligence (AAAI), San Francisco, USA.
[2] S. Liu, M. Watterson, K. Mohta, K. Sun, S. Bhattacharya, C.J. Taylor, et al., "Planning dynamically feasible trajectories for quadrotors using safe flight corridors in 3-d complex environments", IEEE Robotics and Automation Let- ters, vol. 2, no. 3, pp. 1688-1695, July 2017.
[3] D.W.Mellinger,"Trajectory generation and control for quadrotors"Ph.D. dissertation, Univ. Pennsylvania, Philadelphia, PA, 2012.
[4] D. Mellinger and V. Kumar, "Minimum snap trajectory generation and control for quadrotors", inProc. 2011 IEEE Int. Conf. Robot.Autom.,2011
[5] T. Lee, M. Leoky, and N. H. McClamroch, "Geometric tracking control of a quadrotor UAV on SE (3)" in Proc. 49th IEEE Conf. Decis. Control. IEEE, 2010, pp. 5420–5425.