Optimization of Local Spatiotemporal Continuous Trajectory for the Quadrotor Based on Minimum Snap

3D path planning is a field that has attracted much attention in the quadrotor research. Aiming at the problem of online trajectory generation when waypoints change during flight, this paper proposes a polynomial trajectory online adjustment algorithm. By redistributing local time, new waypoints are added to the local trajectory to perform a closed-form solution. This algorithm allows the quadrotor to adjust its flight trajectory in time in response to changes of waypoints. At the same time, the spatial and temporal continuity of the trajectory is guaranteed while the dynamic constraints is satisfied. The simulation experiment results verify the real-time performance and stability of the proposed method for local trajectory replanning in unknown environments.