SUMMARYAn autonomous motion planning framework is proposed, consisting of path planning and trajectory generation. Primarily, a spacious preferred probabilistic roadmap algorithm is utilized to search a safe and short path, considering kinematics and threats from obstacles. Subsequently, a minimum-snap and position-clearance polynomial trajectory problem is transformed into an unconstrained quadratic programming and solved in a two-step optimization. Finally, comparisons with other methods based on statistical simulations are implemented. The results show that the proposed method achieves computational efficiency and a safe trajectory.

中文翻译：

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基于无约束二次规划的四旋翼高效安全运动规划

摘要提出了一种自主运动规划框架，包括路径规划和轨迹生成。首先，考虑到运动学和障碍物的威胁，使用宽敞的首选概率路线图算法来搜索安全且短的路径。随后，将最小捕捉和位置间隙多项式轨迹问题转换为无约束二次规划并在两步优化中求解。最后，实现了与基于统计模拟的其他方法的比较。结果表明，该方法实现了计算效率和安全轨迹。