Real-Time Trajectory Replanning for MAVs using Uniform B-splines and a 3D Circular Buffer

Understand

In this paper, we present a real-time approach to local trajectory replanning for microaerial vehicles (MAVs).

• Current trajectory generation methods for multicopters achieve high success rates in cluttered environments, but assume that the environment is static and require prior knowledge of the map.
• In the presented study, we use the results of such planners and extend them with a local replanning algorithm that can handle unmodeled (possibly dynamic) obstacles while keeping the MAV close to the global trajectory.
• To ensure that the proposed approach is real-time capable, we maintain information about the environment around the MAV in an occupancy grid stored in a three-dimensional circular buffer, which moves together with a drone, and represent the trajectories by using uniform B-splines.