A Set-based Motion Planning Algorithm for Aerial Vehicles in the Presence of Obstacles Exhibiting Hybrid Dynamics

This paper proposes a set-based motion planning algorithm to drive a quadrotor to a target location while avoiding multiple moving obstacles that have hybrid dynamics. By exploiting a library of motion primitives, the proposed planner is capable of rapidly generating trajectories that avoid obstacles with unknown angular velocities that instantaneously change at unknown impact times. The planner employs the reachable sets of the vehicle and of the obstacles to generate a set of safe trajectories from which a trajectory with lowest cost is selected. Simulations and experimental validation of the motion planner are presented.