Obstacle Avoidance for Autonomous Locomotion of a Quadrotor Using an HPF
Keywords:
Kinodynamics, motion planning, aerial robotAbstract
There is a concept called “kinodynamic motion planning” which can consider kinematic constraints and dynamic constraints simultaneously. In this paper, we test the proposed kinodynamic motion planning, which was confirmed in only simulations, by an actual experiment. The experiment assumes that the quadrotor moves in the static environment, and it is confirmed that the quadrotor can reach around the requested target point while avoiding the obstacles.
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