Title
Collision-free path planning in indoor environment using a quadrotor
Author
Faculty/Department
Faculty of Applied Engineering Sciences
Publication type
conferenceObject
Publication
IEEE, [*]
Subject
Engineering sciences. Technology
Computer. Automation
Source (book)
MMAR 2016 : 21st International Conference on Methods and Models in Automation and Robotics, 29th August - 1st September 2016, Miedzyzdroje, Poland
ISBN - Hoofdstuk
978-1-5090-1866-6
ISI
000392500900063
Carrier
E
Target language
English (eng)
Affiliation
University of Antwerp
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.
E-info
https://repository.uantwerpen.be/docman/iruaauth/d3393e/135231.pdf
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