This paper addresses the problem of autonomous navigation through a partially known cluttered environment. The proposed hierarchical framework is developed as an extension to the recently proposed guidance algorithm based on Receding Horizon optimization with Spatial Value or Cost-to-Go function. It ensures a tight integration between the environment map update (via an on-board depth sensor), cost-to-go update as well as the low-level control system. The overall approach combines key elements from robotic motion planning and trajectory optimization and addresses the particular challenges posed by dynamical systems in partially known environment. A simulation example with a Blade-Cx2 indoor helicopter is used to demonstrate the proposed guidance framework.
|Original language||English (US)|
|Title of host publication||AIAA Guidance, Navigation, and Control Conference 2011|
|State||Published - Dec 1 2011|
|Event||AIAA Guidance, Navigation and Control Conference 2011 - Portland, OR, United States|
Duration: Aug 8 2011 → Aug 11 2011
|Other||AIAA Guidance, Navigation and Control Conference 2011|
|Period||8/8/11 → 8/11/11|