Minimum-Time Quadrotor Waypoint Flight in Cluttered Environments

We tackle the problem of planning a minimum-time trajectory for quadrotor over sequence specified waypoints in presence obstacles while exploiting full dynamics. This is crucial autonomous search and rescue drone racing scenarios but was, so far, unaddressed by robotics community in its entirety due to challenges minimizing time non-convex constraints posed collision avoidance. Early works relied on simplified dynamics or polynomial representations that did not exploit actuator potential and, thus, aim at time. address this challenging using hierarchical, sampling-based method with an incrementally more complex model. Our first finds paths different topologies guide subsequent kinodynamic point-mass Then, it uses asymptotically-optimal, based model top solution find feasible time-optimal objective. The proposed shown outperform all related baselines cluttered environments further validated real-world flights 60 km/h one world’s largest motion capture systems. release code open source.