An Efficient B-spline-Based Kinodynamic Replanning Framework for Quadrotors

Understand

Trajectory replanning for quadrotors is essential to enable fully autonomous flight in unknown environments.

• Hierarchical motion planning frameworks, which combine path planning with path parameterization, are popular due to their time efficiency.
• However, the path planning cannot properly deal with non-static initial states of the quadrotor, which may result in non-smooth or even dynamically infeasible trajectories.
• In this paper, we present an efficient kinodynamic replanning framework by exploiting the advantageous properties of the B-spline, which facilitates dealing with the non-static state and guarantees safety and dynamical feasibility.