Local Multiresolution Trajectory Optimization for Micro Aerial Vehicles

182 views · Published 9 August 2016 · 2:47 · Indexed 5 October 2026

Channel: nimbro · 2016 · Science & Technology

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The video illustrates the approach: 
Matthias Nieuwenhuisen and Sven Behnke:
"Local Multiresolution Trajectory Optimization for Micro Aerial Vehicles Employing Continuous Curvature Transitions". 
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Deajeon, Korea, to appear October 2016
http://www.ais.uni-bonn.de/papers/IROS_2016_Nieuwenhuisen.pdf

Two experiments for trajectory optimization in a complex outdoor environment are presented: 
The first experiment shows the effect of initialization with continuous curvature transition segments:.
The second experiment shows the effect of frequent local multiresolution reoptimization.

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