AeriaLPiPS: A Local Planner for Aerial Vehicles with Geometric Collision Checking
Justin S. Smith,Patricio Vela,Justin S. Smith,Patricio Vela
Real-time navigation in non-trivial environments by micro aerial vehicles (MAVs) predominantly relies on modelling the MAV with idealized geometry, such as a sphere. Simplified, conservative representations increase the likelihood of a planner failing to identify valid paths. That likelihood increases the more a robot's geometry differs from the idealized version. Few current approaches consider t...
