3D Path Planning and Obstacle Avoidance on Mesh Maps
نویسندگان
چکیده
Exploration is a challenging tasks in mobile robotics, which has been discussed to a great extend for ground robots. Its application on Micro Aerial Vehicles (MAVs), however, produces unique challenges. In this paper we present an approach for map-exploration designed for a quadrotor helicopter navigating through GPS-denied indoor envirionment using a single fisheye camera as primary sensor. Based on an occupancy grid map, obstacles are avoided safely, while the environment is mapped in three dimensions using a sparse point cloud gathered by the camera images. This algorithm has been tested successfully in textured environments. Results from simulation and real world experiments are presented at the end of this paper.
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