Perception-aware Receding Horizon Navigation for MAVs

Abstract

To reach a given destination safely and accurately, a micro aerial vehicle needs to be able to avoid obstacles and minimize its state estimation uncertainty at the same time. To achieve this goal, we propose a perception-aware receding horizon approach. In our method, a single forwardlooking camera is used for state estimation and mapping. Using the information from the monocular state estimation and mapping system, we generate a library of candidate trajectories and evaluate them in terms of perception quality, collision probability, Show more