Path Planning Followed by Kinodynamic Smoothing for Multirotor Aerial Vehicles (MAVs)

TL;DR

This paper presents a novel approach combining RRT* path planning with kinodynamic smoothing and B-spline trajectory generation to enable MAVs to navigate dynamically feasible, obstacle-free paths in unknown environments.

Contribution

It introduces modifications to RRT* with adaptive search space and multiple path generation, enhancing path consistency and feasibility for MAV navigation.

Findings

Successfully tested in various simulated environments.

Generated dynamically feasible and obstacle-free paths.

Improved path planning efficiency for MAVs.

Abstract

We explore path planning followed by kinodynamic smoothing while ensuring the vehicle dynamics feasibility for MAVs. We have chosen a geometrically based motion planning technique \textquotedblleft RRT*\textquotedblright\; for this purpose. In the proposed technique, we modified original RRT* introducing an adaptive search space and a steering function which help to increase the consistency of the planner. Moreover, we propose multiple RRT* which generates a set of desired paths, provided that the optimal path is selected among them. Then, apply kinodynamic smoothing, which will result in dynamically feasible as well as obstacle-free path. Thereafter, a b spline-based trajectory is generated to maneuver vehicle autonomously in unknown environments. Finally, we have tested the proposed technique in various simulated environments.