Trajectory Planning for Quadrotor Swarms скачать в хорошем качестве

Trajectory Planning for Quadrotor Swarms

Supplemental material to our paper "Trajectory Planning for Quadrotor Swarms" by Wolfgang Hönig, James A. Preiss, T.K. Satish Kumar, Gaurav S. Sukhatme, and Nora Ayanian; submitted to IEEE Transactions on Robotics Special Issue on Aerial Swarm Robotics. We describe a method for multi-robot trajectory planning in known, obstacle-rich environments. We demonstrate our approach on a quadrotor swarm navigating in a warehouse setting. Our method consists of three stages: 1) roadmap generation which generates sparse roadmaps annotated with possible inter-robot collisions; 2) discrete planning which resolves ordering conflicts between robots; and 3) continuous refinement that creates smooth trajectories. We account for the downwash effect of quadrotors, allowing safe flight in dense formations. We demonstrate computational efficiency in simulation with up to 200 robots and physical plausibility with an experiment on 32 nano-quadrotors. To our knowledge, our approach is the first solution which can compute safe and smooth trajectories for hundreds of quadrotors in dense environments with obstacles in a few minutes.