DR 6.4.5: Trajectory planning in dynamic unstructured environment based on 3D perceptual data: principle and evaluation
One main objective of NIFTi is to explore a disaster area using the NIFTi UGV. This robot hardware has been designed to fulfill this task. Autonomous navigation has been previously developed, but real life environment is not static and automatic re-planning in case dynamic changes should be studied and implemented. This is presented in this report, as well as the autonomous control of the UAV.
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