# Reactive Trajectory Generation in an Unknown Environment

## TL;DR

This paper presents a novel trajectory generation algorithm for UAVs operating in unknown environments with wind disturbances, using only onboard sensors and communication, ensuring smooth, collision-free paths within vehicle constraints.

## Contribution

The paper introduces a new trajectory generation method that guarantees safety and adherence to vehicle constraints in unknown, dynamic environments using minimal onboard information.

## Key findings

- Algorithm successfully generates smooth, collision-free trajectories.
- Simulation demonstrates effectiveness in dynamic, unknown environments.
- Guarantees compliance with vehicle thrust and sensor constraints.

## Abstract

Autonomous trajectory generation for unmanned aerial vehicles (UAVs) in unknown environments continues to be an important research area as UAVs become more prolific. We define a trajectory generation algorithm for a vehicle in an unknown environment with wind disturbances, that relies only on the vehicle's on-board distance sensors and communication with other vehicles within a finite region to generate a smooth, collision-free trajectory up to the fourth derivative. The proposed trajectory generation algorithm can be used in conjunction with high-level planners and low-level motion controllers. The algorithm provides guarantees that the trajectory does not violate the vehicle's thrust limitation, sensor constraints, or a user-defined clearance radius around other vehicles and obstacles. Simulation results of a quadrotor moving through an unknown environment with a moving obstacle demonstrates the trajectory generation performance.