Real-Time Motion Planning for Quadrotor MAVs in Three-dimensional Complex Environment

Planning a feasible and flyable path for a micro air vehicle (MAV) operating in a dynamic and cluttered environment is a very canonical and challenging problem in the field of robotics. And there is a variety of exploration in this area. Closed-loop rapidly-exploring random tree (CL-RRT), as a typical randomized algorithm considering the dynamic constraints and instantaneity, has made key contributions to build a real-time planning framework. This paper builds upon these efforts and gives depth discussions on the implementation plans of CL-RRT based motion planning algorithm in a complex closed environment. Simulation examples involving a quadrotor are presented and discussed.