Vision-aided UAV Navigation and Dynamic Obstacle Avoidance using Gradient-based B-spline Trajectory Optimization.
Zhefan XuYumeng XiuXiaoyang ZhanBaihan ChenKenji ShimadaPublished in: CoRR (2022)
Keyphrases
- obstacle avoidance
- b spline
- path planning
- trajectory planning
- mobile robot
- visually guided
- dynamic environments
- collision free
- control points
- autonomous vehicles
- visual navigation
- unknown environments
- potential field
- tensor product
- motion planning
- collision avoidance
- affine transformation
- curve fitting
- least squares
- multi robot
- computer vision
- free form deformation
- cubic b spline
- curve matching
- autonomous navigation
- basis functions
- contour extraction
- cubic spline
- deformation field
- surface fitting
- input output
- vision system
- evolutionary algorithm
- image registration
- real time