Local Gaussian Modifiers (LGMs): UAV Dynamic Trajectory Generation for Onboard Computation

Agile autonomous drones are becoming increasingly popular in research due to the challenges they represent in fields like control, state estimation, or perception at high speeds. When all algorithms are computed onboard the UAV, computational limitations make the task of agile flight even more difficult. One of the most computationally expensive tasks in agile flight is the generation of optimal trajectories. When these trajectories must be updated online due to changes in the environment or uncertainties, this high computational cost may result in insufficient time to reach the desired waypoints, which could cause a drone crash in cluttered environments. In this paper, we present Local Gaussian Modifiers (LGMs), a fast and lightweight way of modifying computationally heavy trajectories when recalculating them in time is not possible due to computational limitations. Moreover, we propose a strategy for deciding when is convenient to use these modifiers or recalculate the whole trajectory based on an estimation of the computational time of this trajectory generation. A trajectory blending procedure is also proposed to ensure smoothness in UAV control when a new trajectory is computed. Our approach was validated in simulation, being able to pass through a race circuit with moving gates, achieving speeds up to 16.0 m/s. Real flight validation was also performed achieving speeds up to 4.0 m/s in a fully autonomous pipeline using onboard computing.