Laser-Based Collision Avoidance and Reactive Navigation Using RRT* and Signed Distance Field for Multirotor UAVs

Liang Lu, Carlos Sampedro, Javier Rodríguez Vázquez, Pascual Campoy
January, 2019
Cite Source Document DOI

Abstract

A laser-based method for collision avoidance and reactive navigation in multirotor UAVs, combining RRT* planning with a signed distance field representation of the environment.

Type
Conference paper
Publication
2019 International Conference on Unmanned Aircraft Systems (ICUAS), 1209–1217
Robotics UAVs Motion Planning
Javier Rodríguez Vázquez
Javier Rodríguez Vázquez
Principal Researcher

Principal Researcher in Artificial Intelligence working on generalizable autonomy, embodied AI, adaptive agents, planning, memory, and robot learning.