Image-based motion planning for high-speed flight in unknown cluttered environment

Fang Liao, Pengfei Wang, Kemao Peng, Rodney Teo, Feng Lin, Jianliang Wang

Research output: Chapter in Book/Conference proceedingConference contributionpeer-review

Abstract

In this paper, a novel motion planning approach is proposed for high-speed flight of Micro Air Vehicles (MAVs) in unknown cluttered environment using a stereo camera as unique sensor. The proposed motion planning works directly on a depth map which represents partial surrounding environment due to limited field of view (FOV) of the stereo camera. The depth map updates at each sampling time. An optimal local target is selected from a set of local targets to which line-of-sight paths are collision-free. Then an optimal collision-free trajectory satisfying kinematic constraints is generated. The simulation results demonstrate the effectiveness of the proposed motion planning approach.

Original languageEnglish
Title of host publication2019 18th European Control Conference, ECC 2019
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages2030-2035
Number of pages6
ISBN (Electronic)9783907144008
DOIs
Publication statusPublished - Jun 2019
Externally publishedYes
Event18th European Control Conference, ECC 2019 - Naples, Italy
Duration: 25 Jun 201928 Jun 2019

Publication series

Name2019 18th European Control Conference, ECC 2019

Conference

Conference18th European Control Conference, ECC 2019
Country/TerritoryItaly
CityNaples
Period25/06/1928/06/19

ASJC Scopus subject areas

  • Instrumentation
  • Control and Optimization

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