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Title: Dynamic obstacle avoidance for UAVs using a fast trajectory planning approach
Authors: Chen, H 
Lu, P 
Xiao, C
Issue Date: 2019
Source: IEEE International Conference on Robotics and Biomimetics, ROBIO 2019, 6-8 Dec. 2019, Dali, China, p. 1459-1464
Abstract: Real-time path planning is crucial to the dexterity of UAVs when traversing through environments with unknown obstacles. In this paper, we proposed such a real-time planning algorithm that can be used in cluttered environments. The real-time computation is achieved by using dimensionality reduction as well as the rolling optimization. We test the algorithm both in the Gazebo simulation and in two real experiments. The results show that our algorithm can maintain a relatively high speed flight while avoiding obstacles successfully.
Keywords: Obstacle avoidance
Real-time path planning
ISBN: 978-1-7281-6321-5 (Electronic ISBN)
978-1-7281-6320-8 (USB ISBN)
978-1-7281-6322-2 (Print on Demand(PoD) ISBN)
DOI: 10.1109/ROBIO49542.2019.8961790
Rights: © 2019 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.
The following publication Chen, H., Lu, P., & Xiao, C. (2019, December). Dynamic obstacle avoidance for UAVs using a fast trajectory planning approach. In 2019 IEEE International Conference on Robotics and Biomimetics (ROBIO) (pp. 1459-1464). IEEE is available at
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