Autonomous Navigation of MAVs in Unknown Cluttered Environments

06/20/2019
by   Leobardo Campos-Macías, et al.
0

This paper presents an autonomous navigation framework for reaching a goal in unknown 3D cluttered environments. The framework consists of three main components. First, a computationally efficient method for mapping the environment from the disparity measurements obtained from a depth sensor. Second, a stochastic method to generate a path to a given goal, taking into account field of view constraints on the space that is assumed to be safe for navigation. Third, a fast method for the online generation of motion plans, taking into account the robot's dynamic constraints, model and environmental uncertainty and disturbances. To highlight the contribution with respect to the available literature, we provide a qualitative and quantitative comparison with state of the art methods for reaching a goal and for exploration in unknown environments, showing the superior performance of our approach. To illustrate the effectiveness of the proposed framework, we present experiments in multiple indoors and outdoors environments running the algorithm fully on board and in real-time, using a robotic platform based on the Intel Ready to Fly drone kit, which represents the implementation in the most frugal platform for navigation in unknown cluttered environments demonstrated to date. See video at https://youtu.be/Wq0e7vF6nZM

READ FULL TEXT

page 1

page 9

page 10

research
02/16/2022

Virtual Maps for Autonomous Exploration of Cluttered Underwater Environments

We consider the problem of autonomous mobile robot exploration in an unk...
research
04/26/2020

Online Mapping and Motion Planning under Uncertainty for Safe Navigation in Unknown Environments

Safe autonomous navigation is an essential and challenging problem for r...
research
08/22/2019

A Hybrid Method for Online Trajectory Planning of Mobile Robots in Cluttered Environments

This paper presents a method for online trajectory planning in known env...
research
02/24/2022

KinoJGM: A framework for efficient and accurate quadrotor trajectory generation and tracking in dynamic environments

Unmapped areas and aerodynamic disturbances render autonomous navigation...
research
01/24/2020

A 3D Reactive Navigation Algorithm for Mobile Robots by Using Tentacle-Based Sampling

This paper introduces a reactive navigation framework for mobile robots ...
research
02/01/2023

Laser Ranging Based Intelligent System for Unknown Environment Mapping

This work describes the implementation of a simple and computationally e...
research
09/15/2020

Autonomous Navigation in Unknown Environments with Sparse Bayesian Kernel-based Occupancy Mapping

This paper focuses on online occupancy mapping and real-time collision c...

Please sign up or login with your details

Forgot password? Click here to reset