Real-time Trajectory Replanning for Micro-UAVs in Cluttered Environments with Dynamic Obstacles

In this paper, we extend an existing real-time planner to avoid dynamic obstacles in unknown cluttered environments for Micro-UAVs. We use an optimization-based approach to generate the local trajectory represented by B-splines. We model dynamic obstacles and design a new optimization cost function. Currently, few methods can generate a trajectory avoiding moving obstacles, although most achieve high success rates in static environments We compare our method with the original planer in typical scenarios and the results show that our method is able to deal with dynamic obstacles more effectively.