We explore path planning followed by kinodynamic smoothing while ensuring the vehicle dynamics feasibility for MAVs. We have chosen a geometrically based motion planning technique \textquotedblleft RRT*\textquotedblright\; for this purpose. In the proposed technique, we modified original RRT* introducing an adaptive search space and a steering function which help to increase the consistency of the planner. Moreover, we propose multiple RRT* which generates a set of desired paths, provided that the optimal path is selected among them. Then, apply kinodynamic smoothing, which will result in dynamically feasible as well as obstacle-free path. Thereafter, a b spline-based trajectory is generated to maneuver vehicle autonomously in unknown environments. Finally, we have tested the proposed technique in various simulated environments.
@article{arxiv.2008.12950,
title = {Path Planning Followed by Kinodynamic Smoothing for Multirotor Aerial Vehicles (MAVs)},
author = {Geesara Kulathunga and Dmitry Devitt and Roman Fedorenko and Sergei Savin and Alexandr Klimchik},
journal= {arXiv preprint arXiv:2008.12950},
year = {2020}
}