Motion Configuration Planning Method of Morphing Quadrotor

An autonomous motion planning problem for morphing quadrotors is addressed in this paper. By introducing a corridor size variables to describe the quadrotor's lateral dimensions, the safe flight corridor is constructed to avoid collisions with obstacles. The mapping from corridor size variables to quadrotor configuration is derived. A central trajectory is generated by the fast-planner algorithm, after which a safe flight corridor is generated by B-spline optimization. Simulation results verify the effectiveness of the proposed methods.