RAPTOR: Robust and Perception-aware Trajectory Replanning for Quadrotor Fast Flight

by   Boyu Zhou, et al.
Zhejiang University

Recent advances in trajectory replanning have enabled quadrotor to navigate autonomously in unknown environments. However, high-speed navigation still remains a significant challenge. Given very limited time, existing methods have no strong guarantee on the feasibility or quality of the solutions. Moreover, most methods do not consider environment perception, which is the key bottleneck to fast flight. In this paper, we present RAPTOR, a robust and perception-aware replanning framework to support fast and safe flight. A path-guided optimization (PGO) approach that incorporates multiple topological paths is devised, to ensure finding feasible and high-quality trajectories in very limited time. We also introduce a perception-aware planning strategy to actively observe and avoid unknown obstacles. A risk-aware trajectory refinement ensures that unknown obstacles which may endanger the quadrotor can be observed earlier and avoid in time. The motion of yaw angle is planned to actively explore the surrounding space that is relevant for safe navigation. The proposed methods are tested extensively. We will release our implementation as an open-source package for the community.


page 1

page 4

page 11

page 12

page 13

page 14

page 15


Teach-Repeat-Replan: A Complete and Robust System for Aggressive Flight in Complex Environments

In this paper, we propose a complete and robust motion planning system f...

EVA-Planner: Environmental Adaptive Quadrotor Planning

Due to its superior agility and flexibility, quadrotor is popularly used...

GPA-Teleoperation: Gaze Enhanced Perception-aware Safe Assistive Aerial Teleoperation

Gaze is an intuitive and direct way to represent the intentions of an in...

Risk-Aware Navigation for Mobile Robots in Unknown 3D Environments

Autonomous navigation in unknown 3D environments is a key issue for inte...

FASTER: Fast and Safe Trajectory Planner for Flights in Unknown Environments

Planning high-speed trajectories for UAVs in unknown environments requir...

Path Planning and Controlled Crash Landing of a Quadcopter in case of a Rotor Failure

This paper presents a framework for controlled emergency landing of a qu...

Please sign up or login with your details

Forgot password? Click here to reset