Layered Mission and Path Planning for MAV Navigation with Partial Environment Knowledge

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Layered Mission and Path Planning for MAV Navigation with Partial Environment Knowledge

Nieuwenhuisen, Matthias / Behnke, Sven

Successful operation of micro aerial vehicles in partially known environments requires globallyNieuwenhuisen, Matthias consistent plans based on incomplete environment models and quick reactions to unknown obstacles by meansBehnke, Sven of real-time planning of collision-free trajectories. In this paper, we propose a complete layered mission and navigation planning system based on coarse prior knowledge and local maps from omnidirectional onboard obstacle perception. We generate trajectories in a multilayered approach: from mission planning to global and local trajectory planning to motion control.

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Title :

Layered Mission and Path Planning for MAV Navigation with Partial Environment Knowledge

Additional title:

Advs in Intelligent Syst., Computing

Contributors:

Menegatti, Emanuele (editor) / Michael, Nathan (editor) / Berns, Karsten (editor) / Yamaguchi, Hiroaki (editor) / Nieuwenhuisen, Matthias (author) / Behnke, Sven (author)

Published in:

Intelligent Autonomous Systems 13 ; Chapter : 23 ; 307-319

Advances in Intelligent Systems and Computing ; 302

Publication date :

2015-09-03

Size :

13 pages

ISBN :

978-3-319-08338-4 , 978-3-319-08337-7

ISSN :

2194-5365 , 2194-5357

DOI :