Dynamic obstacle avoidance for UAVs using a fast trajectory planning approach

Han Chen, Peng Lu, Chenxi Xiao

Research output: Chapter in book / Conference proceedingConference article published in proceeding or bookAcademic researchpeer-review

1 Citation (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 languageEnglish
Title of host publicationProceeding of the IEEE International Conference on Robotics and Biomimetics, ROBIO 2019
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages1459-1464
Number of pages6
ISBN (Electronic)9781728163215
DOIs
Publication statusPublished - Dec 2019
Event2019 IEEE International Conference on Robotics and Biomimetics, ROBIO 2019 - Dali, China
Duration: 6 Dec 20198 Dec 2019

Publication series

NameIEEE International Conference on Robotics and Biomimetics, ROBIO 2019

Conference

Conference2019 IEEE International Conference on Robotics and Biomimetics, ROBIO 2019
CountryChina
CityDali
Period6/12/198/12/19

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

Cite this