A Modular Framework for Motion Planning with Feedback-Based Motion Primitives
In this video, we demonstrate a novel modular framework for safe and robust motion planning. The result is a hybrid controller that concatenates predefined motion primitives. Importantly, motion primitives are defined as feedback controllers, which achieve basic maneuvers such as moving forward, backward, left, and right. The video shows a scenario in which a quadrocopter must safely reach a target destination (that is, deliver a treat to a dog) while avoiding collisions, even under unpredictable disturbances.
This work has been submitted to ICRA 2017. If you are interested in a pre-print, please contact us at: schoellig (at sign) utias.utoronto.ca.
Researchers: Marijan Vukosavljev, Zachary Kroeze, Mireille E. Broucke, and Angela P. Schoellig.
Experiments conducted at the Dynamic Systems Lab, University of Toronto Institute for Aerospace Studies (UTIAS).
More information about the motion primitive design (Prof. Broucke): http://www.control.toronto.edu/~broucke/.
More information about high-performance quadrocopter control (Prof. Schoellig): http://www.dynsyslab.org.