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Title
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Collision-free path planning in indoor environment using a quadrotor
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Author
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Abstract
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| This paper presents a new approach of a path planing algorithm applied in an indoor environment. Path planning or motion planning is an essential part of navigating mobile agents. The goal of path planning is to specify a collision-free trajectory between the start state and the goal state for a mobile agent. The estimation of the absolute position inside the testing environment is performed based on visual ground patterns and image processing technique. A graph search algorithm, A*, find the shortest path considering not only a distance cost but also an additional cost function for controlling the safety. An illustrative example of a quadrotor is used to evaluate the robustness of algorithm. |
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Language
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English
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Source (book)
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MMAR 2016 : 21st International Conference on Methods and Models in Automation and Robotics, 29th August - 1st September 2016, Miedzyzdroje, Poland
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Publication
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IEEE
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2016
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ISBN
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978-1-5090-1866-6
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978-1-5090-1866-6
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Volume/pages
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p. 351-356
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ISI
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000392500900063
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Full text (publisher's version - intranet only)
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