DPMPC-Planner: A real-time UAV trajectory planning framework for complex static environments with dynamic obstacles
Zhefan Xu,Di Deng,Yiping Dong,Kenji Shimada,Zhefan Xu,Di Deng,Yiping Dong,Kenji Shimada
Safe UAV navigation is challenging due to the complex environment structures, dynamic obstacles, and uncertainties from measurement noises and unpredictable moving obstacle behaviors. Although plenty of recent works achieve safe navigation in complex static environments with sophisticated mapping algorithms, such as occupancy map and ESDF map, these methods cannot reliably handle dynamic environme...
