A Target Point based MAV 3D Exploration Method

This paper presents a new target points based trajectory planning algorithm for MAV to explore unknown space. The proposed method progressively plans long-term target point, intermediate target point, local target points, and local trajectory within real time constraint. By tracking the trajectory,...

Full description

Saved in:
Bibliographic Details
Main Authors: Baiming, Tong, Jicheng, Shan, Chaofan, Dai, Qingbao, Liu
Format: Conference Proceeding
Language:English
Subjects:
exploration
Heuristic algorithms
nonlinear program
Planning
Programming
quadrotor
Real-time systems
Space exploration
target point
Three-dimensional displays
Trajectory
Online Access:Request full text
Tags: Add Tag
No Tags, Be the first to tag this record!
Description
Summary:This paper presents a new target points based trajectory planning algorithm for MAV to explore unknown space. The proposed method progressively plans long-term target point, intermediate target point, local target points, and local trajectory within real time constraint. By tracking the trajectory, the MAV can efficiently exploring the unknow space while avoiding obstacles. The proposed method has been demonstrated in simulation environment, and compared with an sampling based method [1], it has shorter exploration time and shorter trajectory length.
ISSN:2152-744X
DOI:10.1109/ICMA.2018.8484481