Publication
Title
Collision-free path planning in indoor environment using a quadrotor
Author
Abstract
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.
Language
English
Source (book)
MMAR 2016 : 21st International Conference on Methods and Models in Automation and Robotics, 29th August - 1st September 2016, Miedzyzdroje, Poland
Publication
IEEE, 2016
ISBN
978-1-5090-1866-6
Volume/pages
p. 351-356
ISI
000392500900063
Full text (publisher's version - intranet only)
UAntwerpen
Faculty/Department
Research group
Publication type
Subject
Affiliation
Publications with a UAntwerp address
External links
Web of Science
Record
Identification
Creation 12.09.2016
Last edited 26.09.2017
To cite this reference