Safe Polynomial Trajectory Generation for Quadrotor Flight in Dense Environments

A safe trajectory generation method for quadrotor flight in three-dimension dense environments is proposed in this letter. We propose a path search algorithm called Safe A* to search a safe, collision-free initial path in cluttered environments. Subsequently, a safe and smooth trajectory with minimum snap is obtained by solving a quadratic problem in closed form. Our method is tested in various simulations, results turn out that our method can significantly increase the success rate of trajectory generation, and generate a safer trajectory as compared to the standard A* algorithm.