A Target Point based MAV 3D Exploration Method
Baiming Tong, Shan Jicheng, Dai Chaofan, Liu Qingbao · 2018
This paper presents a new target points based trajectory planning algorithm for MAV to explore unknown space. The proposed method progressively plans long-term target point, intermediate target point, local target points, and local trajectory within real time constraint. By tracking the trajectory, the MAV can efficiently exploring the unknow space while avoiding obstacles. The proposed method has been demonstrated in simulation environment, and compared with an sampling based method [1], it has shorter exploration time and shorter trajectory length.