@inproceedings{1c174b7a37344f0599765deb901f6a96,
title = "3D motion planning for UAVs in GPS-denied unknown forest environment",
abstract = "In this paper, a decomposition hierarchic on-line motion planning approach consisting of path planning and trajectory generation is proposed for VTOL UAVs to fly in a GPS-denied unknown obstacle-rich environment such as forest and urban canyon. A closed-loop 3D path planning based on A∗ search algorithm is used to generate collision-free path and a 3D on-line trajectory generation based on maneuver automaton methods is used to generate a collision-free reference trajectory. The simulation and experiment on a VTOL UAV demonstrate the effectiveness of the proposed motion planning approach.",
author = "Fang Liao and Shupeng Lai and Yuchao Hu and Jinqiang Cui and Wang, {Jian Liang} and Rodney Teo and Feng Lin",
note = "Publisher Copyright: {\textcopyright} 2016 IEEE.; 2016 IEEE Intelligent Vehicles Symposium, IV 2016 ; Conference date: 19-06-2016 Through 22-06-2016",
year = "2016",
month = aug,
day = "5",
doi = "10.1109/IVS.2016.7535393",
language = "English",
series = "IEEE Intelligent Vehicles Symposium, Proceedings",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "246--251",
booktitle = "2016 IEEE Intelligent Vehicles Symposium, IV 2016",
address = "United States",
}