Speed Adaptive Robot Trajectory Generation Based on Derivative Property of B-Spline Curve

Abstract

In order to improve the safety of autonomous flight of quadrotor in three-dimensional complex environments, this paper proposes a speed adaptive motion planning method by limiting the distance between two adjacent control points based on the derivative property of B-Spline curve. First the initial B-Spline curve control points and the speed constraints based on derivative property are efficiently obtained by the front-end search that is divided into the shortest safe path search and reasonable step targeted expansion satisfying dynamic constraints. Then the back-end optimization assigns the corresponding safe flight corridor to the local trajectories according to the stage of the initial control points and uses MINVO basis ([1]) to limit the simplexes with minimum volume enclosing local trajectories. The trajectory generation is finally formulated as a Quadratically Constrained Quadratic Program (QCQP) which can be solved efficiently. Both simulations and real-world experiments validate the efficiency and performance of this method in generating safe, smooth, speed adaptive trajectories.