Planning Safe Trajectories for Quadrotors Using Secure Aerial Corridors with Local Planning

In this work, we propose a quadrotor path planning method comprises of secure aerial corridors method (SAC) and B-spline-based local planning method (BLP). The proposed method can generate safe, smooth, and dynamical feasible trajectories for quadrotor in complex environments with fewer computational cost. We use a set of convex polyhedrons to construct SAC as free space and plan global flight trajectory within them. Furthermore, in order to avoid unknown obstacles during the flight process, we employ the BLP method to re-plan and generate collision-free trajectories within the limited perceptual range of the quadrotor. The feasibility and completeness of the proposed method are validated in a complex simulation environment.