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| Main Authors: | , , , |
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| Format: | Preprint |
| Published: |
2025
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| Subjects: | |
| Online Access: | https://arxiv.org/abs/2505.15043 |
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| _version_ | 1866909617976508416 |
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| author | Wang, Ze Gao, Zhenyu Qu, Jingang Morin, Pascal |
| author_facet | Wang, Ze Gao, Zhenyu Qu, Jingang Morin, Pascal |
| contents | This paper concerns real-time obstacle avoidance for micro aerial vehicles (MAVs). Motivated by teleoperation applications in cluttered environments with limited computational power, we propose a local planner that does not require the knowledge or construction of a global map of the obstacles. The proposed solution consists of a real-time trajectory planning algorithm that relies on the histogram of obstacle distribution and a planner manager that triggers different planning modes depending on obstacles location around the MAV. The proposed solution is validated, for a teleoperation application, with both simulations and indoor experiments. Benchmark comparisons based on a designed simulation platform are also provided. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2505_15043 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | Histo-Planner: A Real-time Local Planner for MAVs Teleoperation based on Histogram of Obstacle Distribution Wang, Ze Gao, Zhenyu Qu, Jingang Morin, Pascal Robotics This paper concerns real-time obstacle avoidance for micro aerial vehicles (MAVs). Motivated by teleoperation applications in cluttered environments with limited computational power, we propose a local planner that does not require the knowledge or construction of a global map of the obstacles. The proposed solution consists of a real-time trajectory planning algorithm that relies on the histogram of obstacle distribution and a planner manager that triggers different planning modes depending on obstacles location around the MAV. The proposed solution is validated, for a teleoperation application, with both simulations and indoor experiments. Benchmark comparisons based on a designed simulation platform are also provided. |
| title | Histo-Planner: A Real-time Local Planner for MAVs Teleoperation based on Histogram of Obstacle Distribution |
| topic | Robotics |
| url | https://arxiv.org/abs/2505.15043 |