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- Publisher Website: 10.1109/ROBIO49542.2019.8961790
- Scopus: eid_2-s2.0-85079068440
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Conference Paper: Dynamic obstacle avoidance for UAVs using a fast trajectory planning approach
Title | Dynamic obstacle avoidance for UAVs using a fast trajectory planning approach |
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Authors | |
Keywords | Obstacle avoidance UAV Real-time path planning |
Issue Date | 2019 |
Citation | IEEE International Conference on Robotics and Biomimetics, ROBIO 2019, 2019, p. 1459-1464 How to Cite? |
Abstract | © 2019 IEEE. Real-time path planning is crucial to the dexterity of UAVs when traversing through environments with unknown obstacles. In this paper, we proposed such a real-time planning algorithm that can be used in cluttered environments. The real-time computation is achieved by using dimensionality reduction as well as the rolling optimization. We test the algorithm both in the Gazebo simulation and in two real experiments. The results show that our algorithm can maintain a relatively high speed flight while avoiding obstacles successfully. |
Persistent Identifier | http://hdl.handle.net/10722/288789 |
DC Field | Value | Language |
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dc.contributor.author | Chen, Han | - |
dc.contributor.author | Lu, Peng | - |
dc.contributor.author | Xiao, Chenxi | - |
dc.date.accessioned | 2020-10-12T08:05:52Z | - |
dc.date.available | 2020-10-12T08:05:52Z | - |
dc.date.issued | 2019 | - |
dc.identifier.citation | IEEE International Conference on Robotics and Biomimetics, ROBIO 2019, 2019, p. 1459-1464 | - |
dc.identifier.uri | http://hdl.handle.net/10722/288789 | - |
dc.description.abstract | © 2019 IEEE. Real-time path planning is crucial to the dexterity of UAVs when traversing through environments with unknown obstacles. In this paper, we proposed such a real-time planning algorithm that can be used in cluttered environments. The real-time computation is achieved by using dimensionality reduction as well as the rolling optimization. We test the algorithm both in the Gazebo simulation and in two real experiments. The results show that our algorithm can maintain a relatively high speed flight while avoiding obstacles successfully. | - |
dc.language | eng | - |
dc.relation.ispartof | IEEE International Conference on Robotics and Biomimetics, ROBIO 2019 | - |
dc.subject | Obstacle avoidance | - |
dc.subject | UAV | - |
dc.subject | Real-time path planning | - |
dc.title | Dynamic obstacle avoidance for UAVs using a fast trajectory planning approach | - |
dc.type | Conference_Paper | - |
dc.description.nature | link_to_subscribed_fulltext | - |
dc.identifier.doi | 10.1109/ROBIO49542.2019.8961790 | - |
dc.identifier.scopus | eid_2-s2.0-85079068440 | - |
dc.identifier.spage | 1459 | - |
dc.identifier.epage | 1464 | - |