Collision-free path planning in indoor environment using a quadrotor

Absolute position; Additional costs; Collision-free path-planning; Collision-free trajectory; Graph search algorithm; Image processing technique; Indoor environment; Testing environment; Control and Optimization; Control and Systems Engineering; Artificial Intelligence

Abstract :

[en] This paper presents a new approach of a path planing algorithm applied in an indoor environment. Path planning or motion planning is an essential part of navigating mobile agents. The goal of path planning is to specify a collision-free trajectory between the start state and the goal state for a mobile agent. The estimation of the absolute position inside the testing environment is performed based on visual ground patterns and image processing technique. A graph search algorithm, A-, find the shortest path considering not only a distance cost but also an additional cost function for controlling the safety. An illustrative example of a quadrotor is used to evaluate the robustness of algorithm.

Disciplines :

Aerospace & aeronautics engineering

Author, co-author :

Copot, Cosmin; Department of Electromechanics, Op3Mech, University of Antwerp, Antwerp, Belgium ; Department of Electrical Energy, Systems and Automation, DySC, Ghent University, Ghent-Zwijnaarde, Belgium

Hernandez Naranjo, Jairo Andres ; Université de Liège - ULiège > Aérospatiale et Mécanique (A&M)

Mac, Thi Thoa; Department of Electrical Energy, Systems and Automation, DySC, Ghent University, Ghent-Zwijnaarde, Belgium

De Keyse, Robin; Department of Electrical Energy, Systems and Automation, DySC, Ghent University, Ghent-Zwijnaarde, Belgium

Language :

English

Title :

Collision-free path planning in indoor environment using a quadrotor

Publication date :

22 September 2016

Event name :

2016 21st International Conference on Methods and Models in Automation and Robotics (MMAR)

Event place :

Miedzyzdroje, Poland

Event date :

29-08-2016 => 01-09-2016

Audience :

International

Main work title :

2016 21st International Conference on Methods and Models in Automation and Robotics, MMAR 2016

Publisher :

Institute of Electrical and Electronics Engineers Inc.

ISBN/EAN :

978-1-5090-1866-6

Peer review/Selection committee :

Peer reviewed

Additional URL :

http://xplorestaging.ieee.org/ielx7/7568600/7575076/07575160.pdf?arnumber=7575160

Available on ORBi :

since 19 January 2026

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