Dynamic obstacle avoidance for UAVs using a fast trajectory planning approach

Han Chen; Peng Lu; Chenxi Xiao

doi:10.1109/ROBIO49542.2019.8961790

Dynamic obstacle avoidance for UAVs using a fast trajectory planning approach

Han Chen, Peng Lu, Chenxi Xiao

The Hong Kong Polytechnic University

Research output: Chapter in book / Conference proceeding › Conference article published in proceeding or book › Academic research › peer-review

14 Citations (Scopus)

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.

Original language	English
Title of host publication	Proceeding of the IEEE International Conference on Robotics and Biomimetics, ROBIO 2019
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	1459-1464
Number of pages	6
ISBN (Electronic)	9781728163215
DOIs	https://doi.org/10.1109/ROBIO49542.2019.8961790
Publication status	Published - Dec 2019
Event	2019 IEEE International Conference on Robotics and Biomimetics, ROBIO 2019 - Dali, China Duration: 6 Dec 2019 → 8 Dec 2019

Publication series

Name	IEEE International Conference on Robotics and Biomimetics, ROBIO 2019

Conference

Conference	2019 IEEE International Conference on Robotics and Biomimetics, ROBIO 2019
Country/Territory	China
City	Dali
Period	6/12/19 → 8/12/19

Keywords

Obstacle avoidance
Real-time path planning
UAV

ASJC Scopus subject areas

Artificial Intelligence
Computer Science Applications
Hardware and Architecture
Mechanical Engineering
Control and Optimization

More information

10.1109/ROBIO49542.2019.8961790

Cite this

Chen, H., Lu, P., & Xiao, C. (2019). Dynamic obstacle avoidance for UAVs using a fast trajectory planning approach. In Proceeding of the IEEE International Conference on Robotics and Biomimetics, ROBIO 2019 (pp. 1459-1464). Article 8961790 (IEEE International Conference on Robotics and Biomimetics, ROBIO 2019). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ROBIO49542.2019.8961790

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title = "Dynamic obstacle avoidance for UAVs using a fast trajectory planning approach",

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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Chen, H, Lu, P & Xiao, C 2019, Dynamic obstacle avoidance for UAVs using a fast trajectory planning approach. in Proceeding of the IEEE International Conference on Robotics and Biomimetics, ROBIO 2019., 8961790, IEEE International Conference on Robotics and Biomimetics, ROBIO 2019, Institute of Electrical and Electronics Engineers Inc., pp. 1459-1464, 2019 IEEE International Conference on Robotics and Biomimetics, ROBIO 2019, Dali, China, 6/12/19. https://doi.org/10.1109/ROBIO49542.2019.8961790

Dynamic obstacle avoidance for UAVs using a fast trajectory planning approach. / Chen, Han; Lu, Peng; Xiao, Chenxi.
Proceeding of the IEEE International Conference on Robotics and Biomimetics, ROBIO 2019. Institute of Electrical and Electronics Engineers Inc., 2019. p. 1459-1464 8961790 (IEEE International Conference on Robotics and Biomimetics, ROBIO 2019).

Research output: Chapter in book / Conference proceeding › Conference article published in proceeding or book › Academic research › peer-review

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AB - 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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Chen H, Lu P, Xiao C. Dynamic obstacle avoidance for UAVs using a fast trajectory planning approach. In Proceeding of the IEEE International Conference on Robotics and Biomimetics, ROBIO 2019. Institute of Electrical and Electronics Engineers Inc. 2019. p. 1459-1464. 8961790. (IEEE International Conference on Robotics and Biomimetics, ROBIO 2019). doi: 10.1109/ROBIO49542.2019.8961790

Dynamic obstacle avoidance for UAVs using a fast trajectory planning approach

Abstract

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Conference

Keywords

ASJC Scopus subject areas

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