A Local Planning Method Based on Minimum Snap Trajectory Generation and Traversable Region for Inspection of Airport Roads

摘要

The security inspection of airport Roads is an important assignment of the aviation safety. However, the traditional manual ways can’t satisfy the requirements for security and high precision. So, it is necessary to replace the traditional methods with the airport road safety inspection robots. To guarantee the precision of inspection and the security of the inspection equipment, the generated trajectory of inspection robots is demanded to be of high stability. In order to achieve this, in this paper, the minimum snap trajectory method is introduced. Some improvements are also made to solve the problems coming from the application of the method in mobile robots. The proposed method generates a local path from the local map by ARA*, then the traversable region is got according to the local path and local map, finally a stable local trajectory is generated by the improved minimum snap trajectory method.