Whole-Body Real-Time Motion Planning for Multicopters
Shaohui Yang Botao He Zhepei Wang Chao Xu Fei Gao Shaohui Yang Botao He Zhepei Wang Chao Xu Fei Gao
Multicopters are able to perform high maneuverability yet their potential have not been fully achieved. In this work, we propose a full-body, optimization-based motion planning framework that takes shape and attitude of aerial robot into consideration such that the aggressiveness of drone maneuvering improves significantly in cluttered environment. Our method takes in a series of intersecting poly...