Robust Collision-free Lightweight Aerial Autonomy for Unknown Area Exploration

Understand

Collision-free path planning is an essential requirement for autonomous exploration in unknown environments, especially when operating in confined spaces or near obstacles.

• This study presents an autonomous exploration technique using a small drone.
• A local end-point selection method is designed using LiDAR range measurement and then generates the path from the current position to the selected end-point.
• The generated path shows the consistent collision-free path in real-time by adopting the Euclidean signed distance field-based grid-search method.