Online Trajectory Planning for Multiple Quadrotors in Dynamic Environments Using Relative Safe Flight Corridor

This letter presents a new distributed multi-agent trajectory planning algorithm that generates safe, dynamically feasible trajectories considering the uncertainty of obstacles in dynamic environments. We extend the relative safe flight corridor (RSFC) presented in previous work to replace time-vari...

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Veröffentlicht in:	IEEE robotics and automation letters 2021-04, Vol.6 (2), p.659-666
Hauptverfasser:	Park, Jungwon, Kim, H. Jin
Format:	Artikel
Sprache:	eng
Schlagworte:	Acceleration Aerodynamics Algorithms Barriers Collision avoidance distributed robot systems Flight corridors Flight tests Flight time Heuristic algorithms Multiagent systems path planning for multiple mobile robots or agents Relaxation method (mathematics) Rotary wing aircraft Trajectory Trajectory planning Vehicle dynamics
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