3D motion planning for UAVs in GPS-denied unknown forest environment
Fang Liao, Shupeng Lai, Yuchao Hu, Jinqiang Cui, Jianliang Wang, Rodney Teo, Feng Lin · 2016
In this paper, a decomposition hierarchic on-line motion planning approach consisting of path planning and trajectory generation is proposed for VTOL UAVs to fly in a GPS-denied unknown obstacle-rich environment such as forest and urban canyon. A closed-loop 3D path planning based on A* search algorithm is used to generate collision-free path and a 3D on-line trajectory generation based on maneuver automaton methods is used to generate a collision-free reference trajectory. The simulation and experiment on a VTOL UAV demonstrate the effectiveness of the proposed motion planning approach.