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Communication Dans Un Congrès Année : 2013

A Vision and GPS-Based Real-Time Trajectory Planning for MAV in Unknown Urban Environments

Résumé

This paper addresses the issue of real-time optimal trajectory generation of a micro Air Vehicle (MAV) in unknown urban environments. The MAV is required to navigate from an initial and outdoor position to a final position inside a building. To achieve this objective, we develop a safe path planning method using the information provided by the GPS and a consumer depth camera. With the purpose to develop a safe path planning with obstacle avoidance capabilities, a model predictive control approach is developed, which uses the environment information acquired by the navigation system.
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Dates et versions

hal-00939191 , version 1 (30-01-2014)

Identifiants

  • HAL Id : hal-00939191 , version 1

Citer

Gerardo Ramon Flores Colunga, Shuting Zhuo, Rogelio Lozano, Pedro Castillo. A Vision and GPS-Based Real-Time Trajectory Planning for MAV in Unknown Urban Environments. International Conference on Unmanned Aircraft Systems (ICUAS 2013), May 2013, Atlanta, Georgia, United States. pp.1150 - 1155. ⟨hal-00939191⟩
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