# PE-Planner: A Performance-Enhanced Quadrotor Motion Planner for Autonomous Flight in Complex and Dynamic Environments

**Authors:** Jiaxin Qiu, Qingchen Liu, Jiahu Qin, Dewang Cheng, Yawei Tian, Qichao Ma  
**arXiv:** [2403.12865](https://arxiv.org/abs/2403.12865)  
**Date:** 2024-03-19  
**Summary page:** https://www.summarizepaper.com/en/arxiv-id/2403.12865v1/

## Key points

- The role of a motion planner is crucial for achieving fast, safe, and robust flight in quadrotor applications.
- Existing methods face challenges when adapting to complex environments, limiting their effectiveness.
- A team of researchers led by Jiaxin Qiu, Qingchen Liu, Jiahu Qin, Dewang Cheng, Yawei Tian, and Qichao Ma developed the PE-Planner for autonomous flight in intricate settings.
- The PE-Planner operates through a two-tiered approach: global planner generates initial trajectory using kinodynamic path searching techniques; local planner refines trajectory through B-spline optimization considering various factors.
- Extensive simulations and real-world experiments validate the efficacy of the PE-Planner in enhancing robustness and safety measures.
- The PE-Planner can achieve flights at speeds exceeding 6.8 m/s in demanding racing scenarios with exceptional agility and precision.
- Overall, the PE-Planner represents a significant advancement in quadrotor motion planning technology setting new standards for autonomous flight systems operating in challenging conditions.

## Summary

In the realm of quadrotor applications, the role of a motion planner is crucial for achieving fast, safe, and robust flight. However, existing methods often face challenges when adapting to complex environments, which can limit their effectiveness. In response to this issue, a team of researchers led by Jiaxin Qiu, Qingchen Liu, Jiahu Qin, Dewang Cheng, Yawei Tian, and Qichao Ma have developed a cutting-edge solution known as PE-Planner. This performance-enhanced quadrotor motion planner is specifically designed for autonomous flight in intricate settings that include dense obstacles, dynamic obstacles, and unknown disturbances. The PE-Planner operates through a two-tiered approach. The global planner initiates the process by generating an initial trajectory using kinodynamic path searching techniques. This trajectory is then refined through B-spline trajectory optimization methods to enhance its precision and efficiency. Subsequently, the local planner comes into play by considering various factors such as quadrotor dynamics, estimated disturbances, global reference trajectory,
control costs,time constraints,and safety parameters.By integrating these elements within the framework of model predictive contouring control,the local planner generates real-time control inputs that ensure optimal performance in challenging environments. To validate the efficacy of the PE-Planner extensive simulations and real-world experiments were conducted.The results unequivocally demonstrate the heightened robustness,safety measures implemented by the proposed motion planner.Notably impressive is its ability to achieve flights at speeds exceeding 6.8 m/s in a demanding racing scenario-showcasing its exceptional capabilities in navigating complex and dynamic environments with unparalleled agility and precision. Overall,the PE-Planner represents a significant advancement in quadrotor motion planning technology.Its innovative design and comprehensive approach not only address existing limitations but also set new standards for autonomous flight systems operating in challenging conditions.With its proven track record of success in both simulations and practical tests,the PE-Planner stands out as a game-changing solution for enhancing aerial navigation capabilities in diverse real-world scenarios.