Vision-aided UAV Navigation and Dynamic Obstacle Avoidance using Gradient-based B-spline Trajectory Optimization.
Zhefan XuYumeng XiuXiaoyang ZhanBaihan ChenKenji ShimadaPublished in: ICRA (2023)
Keyphrases
- obstacle avoidance
- b spline
- path planning
- trajectory planning
- mobile robot
- visually guided
- collision free
- dynamic environments
- autonomous vehicles
- motion planning
- visual navigation
- control points
- basis functions
- tensor product
- affine transformation
- multi robot
- potential field
- computer vision
- unknown environments
- degrees of freedom
- least squares
- curve fitting
- collision avoidance
- vision system
- real time
- contour extraction
- free form deformation
- curve matching
- deformation field
- autonomous navigation
- multi modal
- neural network