Flying Fast and Low Among Obstacles: Methodology and Experiments

  title={Flying Fast and Low Among Obstacles: Methodology and Experiments},
  author={Sebastian Scherer and Sanjiv Singh and Lyle Chamberlain and Mike Elgersma},
  journal={I. J. Robotics Res.},
Safe autonomous flight is essential for widespread acceptance of aircraft that must fly close to the ground. We have developed a methodology of collision avoidance that can be used in three dimensions in much the same way as autonomous ground vehicles that navigate over unexplored terrain. Safe navigation is accomplished by a combination of online environmental sensing, path planning and collision avoidance. Here we outline our methodology and report results with an autonomous helicopter that… CONTINUE READING
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