convex corridor

JPS jump point search

运动规划 motion planning 方法motion planning

Obstacle-Free Space

IRIS

Iterative Regional Inflation by SDP

quickly computing large polytopic and ellipsoidal regions of obstacle-free space through a series of convex optimizations

• code-iris
• paper

Fast Iterative Region Inflation (FIRI)

Maximum Volume Inscribed Ellipsoid (MVIE)

• paper-Computing Large 2D/3D Convex Regions of Obstacle-Free Space for Robotic Planning

SFC: Safe Flight Corridor

Ref

• 2017 Planning Dynamically Feasible Trajectories for Quadrotors using Safe Flight Corridors in 3-D Complex Environments
• code

seed decomp	line segment	iterative decomp	ellipsoid decomp

SFC construction

1. find ellipsoid
   • 根据最近点缩小椭圆
2. find polyhedron
   • 一步步扩大寻找半平面
3. bounding box: 裁剪
4. shrink： 寻找更合适的半平面以包括起点和终点

Trajectory optimization

RHP: Receding Horizon Planning

• execution planning $T_e$
• re-planning for the next epoch when the robot is executing the trajectory at the current epoch

ref paper

• Efficient mixed-integer planning for uavs in cluttered environments (ICRA), 2015
• 2015 Computing large convex regions of obstacle-free space through semidefinite programming

GALAXY

Ref

• 2020 Generating large convex polytopes directly on point clouds
• code
• code 2

narrow space	hollow space
狭窄环境的多边形边角突出,难以覆盖整个车形	空旷环境下效果较好

依赖障碍物信息， 因此若障碍物分布不好，则找到的空旷区域会比较尖锐。