FIImap: Fast Incremental Inflate Mapping for Autonomous MAV Navigation

Three-dimensional mapping is an essential component of autonomous Micro Aerial Vehicle (MAV) navigation. The paper focuses on the 3D spatial representation method MAV to overcome collision problem caused by soft constraints, control error, and planning with center mass inflating occupancy grid map. A fast incremental inflated map construction proposed, which reduces time-consumption increase range size. areas that occupied state changes introduces two arrays record newly appearing disappearing obstacles. Then, a series breadth-first search algorithms are used traverse parts need local modification update Moreover, sliding model designed based position, suitable for large-range flight. effectiveness proposed approach verified simulated actual flight data. takes about 3 ms construct 16 m × 6 m.