Vision-aided UAV Navigation and Dynamic Obstacle Avoidance using Gradient-based B-spline Trajectory Optimization
Zhefan Xu,Yumeng Xiu,Xiaoyang Zhan,Baihan Chen,Kenji Shimada,Zhefan Xu,Yumeng Xiu,Xiaoyang Zhan,Baihan Chen,Kenji Shimada
Navigating dynamic environments requires the robot to generate collision-free trajectories and actively avoid moving obstacles. Most previous works designed path planning algorithms based on one single map representation, such as the geometric, occupancy, or ESDF map. Although they have shown success in static environments, due to the limitation of map representation, those methods cannot reliably...
