Quadrotor Path Planning and Polynomial Trajectory Generation Using Quadratic Programming for Indoor Environments

This study considers the problem of generating optimal, kino-dynamic-feasible, and obstacle-free trajectories for a quadrotor through indoor environments. We explore methods to overcome challenges faced by quadrotors settings due their higher-order vehicle dynamics, relatively limited free spaces environment, challenging optimization constraints. In this research, we propose complete pipeline path planning, trajectory generation, navigation formulate generation as Quadratic Program (QP) with Obstacle-Free Corridor (OFC) The OFC is collection convex overlapping polyhedra that model tunnel-like connecting space from current configuration goal configuration. Linear inequality constraints provided OFCs are used in QP real-time performance. demonstrate feasibility our approach, its performance, completeness simulating multiple environments differing sizes varying obstacle densities using MATLAB Optimization Toolbox. found approach has higher chances convergence solver compared approaches scenarios. show proposed can plan paths optimize few hundred milliseconds within approximately ten iterations everyday settings.