Convexification and real-time on-board optimization for agile quad-rotor maneuvering and obstacle avoidance.
Michael SzmukCarlo Alberto PascucciDaniel DueriBehçet AçikmesePublished in: IROS (2017)
Keyphrases
- obstacle avoidance
- real time
- motion planning
- mobile robot
- autonomous vehicles
- path planning
- trajectory planning
- fault diagnosis
- visually guided
- space exploration
- route selection
- visual navigation
- potential field
- optimization algorithm
- degrees of freedom
- global optimization
- mathematical model
- dynamic environments
- vision system
- control system
- multi robot
- closed loop
- quality of service
- particle swarm optimization
- simulated annealing
- fuzzy logic