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Conference Paper: Dynamic obstacle avoidance for UAVs using a fast trajectory planning approach

TitleDynamic obstacle avoidance for UAVs using a fast trajectory planning approach
Authors
Chen, HanLu, PengXiao, Chenxi
KeywordsObstacle avoidance
UAV
Real-time path planning
Issue Date2019
Citation
IEEE International Conference on Robotics and Biomimetics, ROBIO 2019, 2019, p. 1459-1464 How to Cite?
DOI: http://dx.doi.org/10.1109/ROBIO49542.2019.8961790
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 Identifierhttp://hdl.handle.net/10722/288789

 

DC FieldValueLanguage
dc.contributor.authorChen, Han-
dc.contributor.authorLu, Peng-
dc.contributor.authorXiao, Chenxi-
dc.date.accessioned2020-10-12T08:05:52Z-
dc.date.available2020-10-12T08:05:52Z-
dc.date.issued2019-
dc.identifier.citationIEEE International Conference on Robotics and Biomimetics, ROBIO 2019, 2019, p. 1459-1464-
dc.identifier.urihttp://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.languageeng-
dc.relation.ispartofIEEE International Conference on Robotics and Biomimetics, ROBIO 2019-
dc.subjectObstacle avoidance-
dc.subjectUAV-
dc.subjectReal-time path planning-
dc.titleDynamic obstacle avoidance for UAVs using a fast trajectory planning approach-
dc.typeConference_Paper-
dc.description.naturelink_to_subscribed_fulltext-
dc.identifier.doi10.1109/ROBIO49542.2019.8961790-
dc.identifier.scopuseid_2-s2.0-85079068440-
dc.identifier.spage1459-
dc.identifier.epage1464-

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