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Collision Free Trajectory Generation
In this project, we aim at designing a collision free trajectory generation method using visual information provided by an onboard monocular or stereo camera.
To safely operate a quadrotor in cluttered environments, a quadrotor should be able to avoid obstacles while flying. It can be done by observing the environment around a quadrotor and designing a reference trajectory that does not collide with detected obstacles. In this project, we aim at designing a collision free trajectory generation method using visual information provided by an onboard monocular or stereo camera. The visual information will be used to extract non-occupied space around
the quadrotor. Then, we can generate the reference trajectory within the computed free space. To do that, an optimization problem will be formulated to minimize some
criteria such as actuation values, jerk, snap, or the distance to the goal while constraining the distance between the quadrotor and occupied
regions. The trajectory generation method will be tested in the simulation environment first. After that, it will be evaluated with an agile quadrotor platform in indoor and outdoor environments.
To safely operate a quadrotor in cluttered environments, a quadrotor should be able to avoid obstacles while flying. It can be done by observing the environment around a quadrotor and designing a reference trajectory that does not collide with detected obstacles. In this project, we aim at designing a collision free trajectory generation method using visual information provided by an onboard monocular or stereo camera. The visual information will be used to extract non-occupied space around the quadrotor. Then, we can generate the reference trajectory within the computed free space. To do that, an optimization problem will be formulated to minimize some criteria such as actuation values, jerk, snap, or the distance to the goal while constraining the distance between the quadrotor and occupied regions. The trajectory generation method will be tested in the simulation environment first. After that, it will be evaluated with an agile quadrotor platform in indoor and outdoor environments.
The goal of this work is designing a collision free trajectory using visual information from an onboard monocular or stereo camera.
The goal of this work is designing a collision free trajectory using visual information from an onboard monocular or stereo camera.
Suseong Kim (suseong@ifi.uzh.ch), Davide Falanga (falanga@ifi.uzh.ch)
Suseong Kim (suseong@ifi.uzh.ch), Davide Falanga (falanga@ifi.uzh.ch)