3D-OGSE: Online Smooth Trajectory Generation for Quadrotors using Generalized Shape Expansion in Unknown 3D Environments

Zinage Vrushabh
Zinage Vrushabh
Arul Senthil Hariharan
Arul Senthil Hariharan
Cited by: 0|Bibtex|Views15
Other Links: arxiv.org

Abstract:

In this letter, we present an online motion planning algorithm for generating smooth, collision-free trajectories for quadrotors operating in an unknown, cluttered 3D environment. Our approach constructs a non-convex safe-region termed generalized shape at each timestep, which represents the obstacle-free region in the environment. A co...More

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