Topology-Guided Perception-Aware Receding Horizon Trajectory Generation for UAVs
Gang Sun,Xuetao Zhang,Yisha Liu,Hanzhang Wang,Xuebo Zhang,Yan Zhuang,Gang Sun,Xuetao Zhang,Yisha Liu,Hanzhang Wang,Xuebo Zhang,Yan Zhuang
The perception-aware motion planning method based on the localization uncertainty has the potential to improve the localization accuracy for robot navigation. How-ever, most of the existing perception-aware methods pre-build a global feature map and can not generate the perception- aware trajectory in real time. This paper proposes a topology- guided perception-aware receding horizon trajectory ge...
