@inproceedings{9faf2a11290b4ffc9a4e329b329dda6a,
title = "Safe Polynomial Trajectory Generation for Quadrotor Flight in Dense Environments",
abstract = "A safe trajectory generation method for quadrotor flight in three-dimension dense environments is proposed in this letter. We propose a path search algorithm called Safe A* to search a safe, collision-free initial path in cluttered environments. Subsequently, a safe and smooth trajectory with minimum snap is obtained by solving a quadratic problem in closed form. Our method is tested in various simulations, results turn out that our method can significantly increase the success rate of trajectory generation, and generate a safer trajectory as compared to the standard A* algorithm.",
keywords = "Path planning, Quadratic programming, Quadrotor, Trajectory generation",
author = "Zhenping Wu and Zhijun Meng and Zhe Wu",
note = "Publisher Copyright: {\textcopyright} 2022, The Editor(s) (if applicable) and The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.; International Conference on Guidance, Navigation and Control, ICGNC 2020 ; Conference date: 23-10-2020 Through 25-10-2020",
year = "2022",
doi = "10.1007/978-981-15-8155-7\_335",
language = "英语",
isbn = "9789811581540",
series = "Lecture Notes in Electrical Engineering",
publisher = "Springer Science and Business Media Deutschland GmbH",
pages = "4013--4020",
editor = "Liang Yan and Haibin Duan and Xiang Yu",
booktitle = "Advances in Guidance, Navigation and Control - Proceedings of 2020 International Conference on Guidance, Navigation and Control, ICGNC 2020",
address = "德国",
}