Dynamic Obstacle Avoidance for UAVs Using a Fast Trajectory Planning Approach

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...

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Bibliographic Details
Published in2019 IEEE International Conference on Robotics and Biomimetics (ROBIO) pp. 1459 - 1464
Main Authors Chen, Han, Lu, Peng, Xiao, Chenxi
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.12.2019
Subjects
Collision avoidance
Drones
Heuristic algorithms
obstacle avoidance
Optimization
Planning
real-time path planning
Real-time systems
Robots
Software algorithms
Software packages
Trajectory planning
UAV
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DOI10.1109/ROBIO49542.2019.8961790

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Summary: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.
DOI:10.1109/ROBIO49542.2019.8961790