Sensory predictive guidance in partially known environment

Navid Dadkhah, Berenice F Mettler May

Research output: Chapter in Book/Report/Conference proceedingConference contribution

6 Scopus citations

Abstract

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 languageEnglish (US)
Title of host publicationAIAA Guidance, Navigation, and Control Conference 2011
StatePublished - Dec 1 2011
EventAIAA Guidance, Navigation and Control Conference 2011 - Portland, OR, United States
Duration: Aug 8 2011Aug 11 2011

Other

OtherAIAA Guidance, Navigation and Control Conference 2011
CountryUnited States
CityPortland, OR
Period8/8/118/11/11

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Dadkhah, N., & Mettler May, B. F. (2011). Sensory predictive guidance in partially known environment. In AIAA Guidance, Navigation, and Control Conference 2011