Reactive Receding Horizon Planning and Control for Quadrotors with Limited On-Board Sensing
Indrajeet Yadav,Herbert G. Tanner,Indrajeet Yadav,Herbert G. Tanner
The paper presents a receding horizon planning strategy for a quadrotor-type mav to navigate through an unknown cluttered environment at high speed. Utilizing a lightweight on-board short-range sensor that generates point-clouds within a narrow Field of View (FOV), the reported approach generates safe and dynamically feasible trajectories within the fov of the sensor, which the mav uses to navigat...
