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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| Published in | 2019 IEEE International Conference on Robotics and Biomimetics (ROBIO) pp. 1459 - 1464 |
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| Main Authors | , , |
| Format | Conference Proceeding |
| Language | English |
| Published |
IEEE
01.12.2019
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| Subjects | |
| Online Access | Get full text |
| DOI | 10.1109/ROBIO49542.2019.8961790 |
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| Abstract | 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. |
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| AbstractList | 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. |
| Author | Xiao, Chenxi Chen, Han Lu, Peng |
| Author_xml | – sequence: 1 givenname: Han surname: Chen fullname: Chen, Han organization: Hong Kong Polytechnic University,Hung Hom, Kowloon, Hong Kong,China – sequence: 2 givenname: Peng surname: Lu fullname: Lu, Peng organization: Hong Kong Polytechnic University,Hung Hom, Kowloon, Hong Kong,China – sequence: 3 givenname: Chenxi surname: Xiao fullname: Xiao, Chenxi organization: Purdue University,West Lafayette,IN,U.S.A,47907 |
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| Snippet | 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... |
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| SubjectTerms | Collision avoidance Drones Heuristic algorithms obstacle avoidance Optimization Planning real-time path planning Real-time systems Robots Software algorithms Software packages Trajectory planning UAV |
| Title | Dynamic Obstacle Avoidance for UAVs Using a Fast Trajectory Planning Approach |
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