  As a kind of fully actuated system, omnidirectional multirotor aerial
vehicles (OMAVs) has more flexible maneuverability than traditional
underactuated multirotor aircraft, and it also has more significant advantages
in obstacle avoidance flight in complex environments.However, there is almost
no way to generate the full degrees of freedom trajectory that can play the
OMAVs' potential.Due to the high dimensionality of configuration space, it is
challenging to make the designed trajectory generation algorithm efficient and
scalable.This paper aims to achieve obstacle avoidance planning of OMAV in
complex environments. A 6-DoF trajectory generation framework for OMAVs was
designed for the first time based on the geometrically constrained Minimum
Control Effort (MINCO) trajectory generation framework.According to the safe
regions represented by a series of convex polyhedra, combined with the
aircraft's overall shape and dynamic constraints, the framework finally
generates a collision-free optimal 6-DoF trajectory.The vehicle's attitude is
parameterized into a 3D vector by stereographic projection.Simulation
experiments based on Gazebo and PX4 Autopilot are conducted to verify the
performance of the proposed framework.
