This paper addresses the issue of real-time optimal trajectory generation of a micro Air Vehicle (MAV) in unknown urban environments. The MAV is required to navigate from an initial and outdoor position to a final position inside a building. To achieve this objective, we develop a safe path planning method using the information provided by the GPS and a consumer depth camera. With the purpose to develop a safe path planning with obstacle avoidance capabilities, a model predictive control approach is developed, which uses the environment information acquired by the navigation system.


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    Title :

    A vision and GPS-based real-time trajectory planning for MAV in unknown urban environments


    Contributors:


    Publication date :

    2013-05-01


    Size :

    1590296 byte




    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



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