We propose a planning method to enable fast autonomous flight in cluttered environments.
Typically, autonomous navigation through a complex environment requires a continuous
search on a graph generated by a k-connected grid or a probabilistic scheme. As the vehicle
travels, updating the graph with data from onboard sensors is expensive as is the search on
the graph especially if the paths must be kinodynamically feasible. We propose to avoid the
online search to reduce the computational complexity. Our method models the environment …