Related papers: Trajectory Generation with Fast Lidar-based 3D Col…
In this work, we propose a method to efficiently compute smooth, time-optimal trajectories for micro aerial vehicles (MAVs) evading a moving obstacle. Our approach first computes an n-dimensional trajectory from the start- to an arbitrary…
Safe navigation of Micro Aerial Vehicles (MAVs) requires not only obstacle-free flight paths according to a static environment map, but also the perception of and reaction to previously unknown and dynamic objects. This implies that the…
An important capability of autonomous Unmanned Aerial Vehicles (UAVs) is autonomous landing while avoiding collision with obstacles in the process. Such capability requires real-time local trajectory planning. Although trajectory-planning…
This work deals with a moving target chasing mission of an aerial vehicle equipped with a vision sensor in a cluttered environment. In contrast to obstacle-free or sparse environments, the chaser should be able to handle collision and…
In recent years, unmanned aerial vehicles (UAVs) are used for numerous inspection and video capture tasks. Manually controlling UAVs in the vicinity of obstacles is challenging, however, and poses a high risk of collisions. Even for…
In this paper, we propose an efficient and accurate method for autonomous surface vehicles to generate a smooth and collision-free trajectory considering its dynamics constraints. We decouple the trajectory planning problem as a front-end…
In this paper we address the problem of path planning in an unknown environment with an aerial robot. The main goal is to safely follow the planned trajectory by avoiding obstacles. The proposed approach is suitable for aerial vehicles…
In this paper, we present a motion planning strategy for UAVs that generates a time-optimal trajectory to survey a given target area. There are several situations where completing an aerial survey is time sensitive, such as gaining…
As fully-actuated systems, omnidirectional multirotor aerial vehicles (OMAVs) have more flexible maneuverability and advantages in aggressive flight in cluttered environments than traditional underactuated MAVs. %Due to the high…
We address the challenge of real-time planning of minimum-time trajectories over multiple waypoints, onboard multirotor UAVs. Previous works demonstrated that achieving a truly time-optimal trajectory is computationally too demanding to…
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…
This paper presents an integrated approach that combines trajectory optimization and Artificial Potential Field (APF) method for real-time optimal Unmanned Aerial Vehicle (UAV) trajectory planning and dynamic collision avoidance. A…
Unmanned aerial vehicle (UAV) use continues to increase, including operating beyond line of sight in unknown environments where the vehicle must autonomously generate a trajectory to safely navigate. In this article, we develop a trajectory…
Path planning in dynamic environments is essential to high-risk applications such as unmanned aerial vehicles, self-driving cars, and autonomous underwater vehicles. In this paper, we generate collision-free trajectories for a robot within…
Efficient trajectory generation in complex dynamic environments remains an open problem in the unmanned surface vehicle (USV). The perception of the USV is usually interfered with by the swing of the hull and the ambient weather, making it…
Navigating dynamic environments requires the robot to generate collision-free trajectories and actively avoid moving obstacles. Most previous works designed path planning algorithms based on one single map representation, such as the…
Autonomous navigation in unknown environments with obstacles remains challenging for micro aerial vehicles (MAVs) due to their limited onboard computing and sensing resources. Although various collision avoidance methods have been…
In this paper, we propose a robust and efficient quadrotor motion planning system for fast flight in 3-D complex environments. We adopt a kinodynamic path searching method to find a safe, kinodynamic feasible and minimum-time initial…
For accomplishing a variety of missions in challenging environments, the capability of navigating with full autonomy while avoiding unexpected obstacles is the most crucial requirement for UAVs in real applications. In this paper, we…
Micro-aerial vehicles (MAVs) are becoming ubiquitous across multiple industries and application domains. Lightweight MAVs with only an onboard flight controller and a minimal sensor suite (e.g., IMU, vision, and vertical ranging sensors)…