Efficient safe corridor navigation with jerk limited trajectory for quadrotors

Quadrotors commonly operate in low attitude and obstacle-strewn environment. To guarantee its safety, it has to be operated inside the certain safe area. This paper presents an efficient technique to generated jerk limited trajectory that leads a quadrotor to travel inside such safe area. By limiting the trajectory's velocity, acceleration, and jerk, it is made feasible regarding the vehicle's physical limits. The underlying trajectory generation algorithm is extremely efficient and takes only several microseconds to produce the results. Finally, the algorithm is tested with real flight experiments.