TY - GEN
T1 - Sensory predictive guidance in partially known environment
AU - Dadkhah, Navid
AU - Mettler May, Berenice F
PY - 2011
Y1 - 2011
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=84864946906&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84864946906&partnerID=8YFLogxK
M3 - Conference contribution
AN - SCOPUS:84864946906
SN - 9781600869525
T3 - AIAA Guidance, Navigation, and Control Conference 2011
BT - AIAA Guidance, Navigation, and Control Conference 2011
T2 - AIAA Guidance, Navigation and Control Conference 2011
Y2 - 8 August 2011 through 11 August 2011
ER -