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In this paper, we propose a time-efficient approach to generate safe, smoothand dynamically feasible trajectories for quadrotors in obstacle-clutteredenvironment. By using the uniform B-spline to represent trajectories, wetransform the trajectory planning to a graph-search problem of B-spline controlpoints in discretized space. Highly strict convex hull property of B-spline isderived to guarantee the dynamical feasibility of the entire trajectory. Anovel non-uniform kinodynamic search strategy is adopted, and the step lengthis dynamically adjusted during the search process according to the Euclideansigned distance field (ESDF), making the trajectory achieve reasonabletime-allocation and be away from obstacles. Non-static initial and goal statesare allowed, therefore it can be used for online local replanning as well asglobal planning. Extensive simulation and hardware experiments show that ourmethod achieves higher performance comparing with the state-of-the-art method.

Real-time Trajectory Generation for Quadrotors using B-spline based Non-uniform Kinodynamic Search