Deliberative Control-Aware Motion Planning for Kinematic-Constrained UAVs in a Dynamic Environment
Elias J. R. Freitas, Arthur Da C. Vangasse, Miri Weiss-Cohen, Frederico G. Guimarães, Luciano C. A. Pimenta
Abstract
This paper introduces a motion planning approach for navigating in a dynamic environment. The path is represented using a Non-Uniform Rational B-Spline (NURBS) to ensure smoothness, curvature continuity, and proper orientation by adjusting its parameters. A Differential Evolution algorithm optimizes the curve parameters and traversal speed at each replanning interval, taking into account speed limits, maximum curvature, and obstacles in the environment. A constraintbased on Velocity Obstacle (VO) ensures collision-free motion, considering bounds provided by lower-level controllers. The feasibility of the approach is validated through simulations and real-world experiments with the Crazyflie 2.1 micro quadcopter.
BibTeX
@inproceedings{icra2025_deliberativecont,
title = {Deliberative Control-Aware Motion Planning for Kinematic-Constrained UAVs in a Dynamic Environment},
author = {Elias J. R. Freitas and Arthur Da C. Vangasse and Miri Weiss-Cohen and Frederico G. Guimarães and Luciano C. A. Pimenta},
booktitle = {ICRA 2025},
year = {2025}
}