A Hybrid Method for Online Trajectory Planning of Mobile Robots in Cluttered Environments

摘要

This paper presents a method for online trajectory planning in known environments. The proposed algorithm is a fusion of sampling-based techniques and model-based optimization via quadratic programming. The former is used to efficiently generate an obstacle-free path while the latter takes into account the robot dynamical constraints to generate a time-dependent trajectory. The main contribution of this work lies on the formulation of a convex optimization problem over the generated obstacle-free path that is guaranteed to be feasible. Thus, in contrast with previously proposed methods, iterative formulations are not required. The proposed method has been compared with state-of-the-art approaches showing a significant improvement in success rate and computation time. To illustrate the effectiveness of this approach for online planning, the proposed method was applied to the fluid autonomous navigation of a quadcopter in multiple environments consisting of up to 200 obstacles. The scenarios hereinafter presented are some of the most densely cluttered experiments for online planning and navigation reported to date. A video of the experiments can be found at https://youtube/DJ1IZRL5t1Q.