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In order to improve the safety of autonomous flight of quadrotor in three-dimensional complex environments, this letter proposes a speed adaptive motion planning method by limiting the distance between two adjacent control points based on the derivative property of B-Spline curve. First the initial B-Spline curve control points and the speed constraints based on derivative property are efficiently obtained by the front-end search that is divided into the shortest safe path search and reasonable step targeted expansion satisfying dynamic constraints. Then the back-end optimization assigns the corresponding safe flight corridor to the local trajectories according to the stage of the initial control points and uses MINVO basis (Tordesillas and How, 2022) to limit the simplexes with minimum volume enclosing local trajectories. The trajectory generation is finally formulated as a Quadratically Constrained Quadratic Program (QCQP) which can be solved efficiently. Both simulations and real-world experiments validate the efficiency and performance of this method in generating safe, smooth, speed adaptive trajectories.
Wang et al. (Thu,) studied this question.