Receding horizon path planning for 3D exploration and surface inspection

Within this paper a new path planning algorithm for autonomous robotic exploration and inspection is presented. The proposed method plans online in a receding horizon fashion by sampling possible future configurations in a geometric random tree. The choice of the objective function enables the plann...

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Bibliographic Details
Published in:	Autonomous robots Vol. 42; no. 2; pp. 291 - 306
Main Authors:	Bircher, Andreas, Kamel, Mina, Alexis, Kostas, Oleynikova, Helen, Siegwart, Roland
Format:	Journal Article
Language:	English
Published:	New York Springer US 01.02.2018 Springer Nature B.V
Subjects:	Active Perception Algorithms Artificial Intelligence Complexity Computer Imaging Computer simulation Control Engineering Exploration Horizon Inspection Mechatronics Micro air vehicles (MAV) Path planning Pattern Recognition and Graphics Planning Robotics Robotics and Automation Rotary wing aircraft Vision Next-best-view Autonomous inspection Aerial robotics Exploration planning
ISSN:	0929-5593, 1573-7527
Online Access:	Get full text
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