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This paper proposes a solution to real-time collision-free path planning for an AR. Drone 2.0 UAV using only on-board visual and inertial sensing. The proposed solution consists in a modified potential field method to overcome the non-reachable goal problem. The approach comprises three key components: pattern-based ground for localization, proposed potential field method for path planning and PD controllers for steering commands. By applying the proposed method, the quadrotor is successful in avoiding known/unknown obstacles and reaching the target in complex indoor environment. The results demonstrate the feasibility of the proposed strategy, which opens new possibilities for the agent to perform autonomous navigation.
Mac et al. (Fri,) studied this question.