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Erratum published on 16 July 2021, see Remote Sens. 2021, 13(14), 2791.
Article

Robust and Efficient Trajectory Replanning Based on Guiding Path for Quadrotor Fast Autonomous Flight

1
School of Geodesy and Geomatics, Wuhan University, Wuhan 430079, China
2
Institute of Photogrammetry and Remote Sensing, Chinese Academy of Surveying and Mapping, Beijing 100036, China
*
Author to whom correspondence should be addressed.
Academic Editor: Mahdi Rezaei
Received: 26 January 2021 / Revised: 23 February 2021 / Accepted: 1 March 2021 / Published: 4 March 2021
(This article belongs to the Special Issue Sensors and Artificial Intelligence in Autonomous Vehicles)
Path planning is one of the key parts of unmanned aerial vehicle (UAV) fast autonomous flight in an unknown cluttered environment. However, real-time and stability remain a significant challenge in the field of path planning. To improve the robustness and efficiency of the path planning method in complex environments, this paper presents RETRBG, a robust and efficient trajectory replanning method based on the guiding path. Firstly, a safe guiding path is generated by using an improved A* and path pruning method, which is used to perceive the narrow space in its surrounding environment. Secondly, under the guidance of the path, a guided kinodynamic path searching method (GKPS) is devised to generate a safe, kinodynamically feasible and minimum-time initial path. Finally, an adaptive optimization function with two modes is proposed to improve the optimization quality in complex environments, which selects the optimization mode to optimize the smoothness and safety of the path according to the perception results of the guiding path. The experimental results demonstrate that the proposed method achieved good performance both in different obstacle densities and different resolutions. Compared with the other state-of-the-art methods, the quality and success rate of the planning result are significantly improved. View Full-Text
Keywords: UAV; path planning; guiding path; kinodynamic path searching; adaptive optimization UAV; path planning; guiding path; kinodynamic path searching; adaptive optimization
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MDPI and ACS Style

Zhao, Y.; Yan, L.; Chen, Y.; Dai, J.; Liu, Y. Robust and Efficient Trajectory Replanning Based on Guiding Path for Quadrotor Fast Autonomous Flight. Remote Sens. 2021, 13, 972. https://0-doi-org.brum.beds.ac.uk/10.3390/rs13050972

AMA Style

Zhao Y, Yan L, Chen Y, Dai J, Liu Y. Robust and Efficient Trajectory Replanning Based on Guiding Path for Quadrotor Fast Autonomous Flight. Remote Sensing. 2021; 13(5):972. https://0-doi-org.brum.beds.ac.uk/10.3390/rs13050972

Chicago/Turabian Style

Zhao, Yinghao, Li Yan, Yu Chen, Jicheng Dai, and Yuxuan Liu. 2021. "Robust and Efficient Trajectory Replanning Based on Guiding Path for Quadrotor Fast Autonomous Flight" Remote Sensing 13, no. 5: 972. https://0-doi-org.brum.beds.ac.uk/10.3390/rs13050972

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