• Corpus ID: 239050085

Real-time Identification and Simultaneous Avoidance of Static and Dynamic Obstacles on Point Cloud for UAVs Navigation

  title={Real-time Identification and Simultaneous Avoidance of Static and Dynamic Obstacles on Point Cloud for UAVs Navigation},
  author={Han Chen and Peng Lu},
  • Han Chen, Peng Lu
  • Published 20 October 2021
  • Computer Science
  • ArXiv
Avoiding hybrid obstacles in unknown scenarios with an efficient flight strategy is a key challenge for unmanned aerial vehicle applications. In this paper, we introduce a more robust technique to distinguish and track dynamic obstacles from static ones with only point cloud input. Then, to achieve dynamic avoidance, we propose the forbidden pyramids method to solve the desired vehicle velocity with an efficient sampling-based method in iteration. The motion primitives are generated by solving… 


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