Video attachement for paper
Matthias Nieuwenhuisen and Sven Behnke:
Search-based 3D Planning and Trajectory Optimization for Safe Micro Aerial Vehicle Flight Under Sensor Visibility Constraints
In Proceedings of IEEE International Conference on Robotics and Automation (ICRA), Montreal, Canada, May 2019.
[ Ссылка ]
Safe navigation of Micro Aerial Vehicles (MAVs)
requires not only obstacle-free flight paths according to a static
environment map, but also the perception of and reaction to
previously unknown and dynamic objects. This implies that
the onboard sensors cover the current flight direction. Due
to the limited payload of MAVs, full sensor coverage of the
environment has to be traded off with flight time. Thus, often
only a part of the environment is covered.
We present a combined allocentric complete planning and
trajectory optimization approach taking these sensor visibility
constraints into account. The optimized trajectories yield flight
paths within the apex angle of a Velodyne Puck Lite 3D
laser scanner enabling low-level collision avoidance to perceive
obstacles in the flight direction. Furthermore, the optimized
trajectories take the flight dynamics into account and contain
the velocities and accelerations along the path.
We evaluate our approach with a DJI Matrice 600 MAV and
in simulation employing hardware-in-the-loop.
