Fork me on GitHub

UAV-Motion-Planner-Ensemble by Sam, Bill, Will, Kyel

A Matlab motion planner ensemble of a global Voronoi model and a local Potential Field model

Simultaneous Planning Localization And Mapping For Unmanned Aerial Vehicles

This simulator is being built as part of a final project Simultaneous Planning Localization And Mapping For Unmanned Aerial Vehicles for GeorgiaTech course CS 4649/7649 Robot Intelligence and Planning.

The goal of the project is to implement a planning technique into the SLAM framework, using a local planner to direct the path towards the global exploration goal. This work is motivated to improve SLAM performance in uncertain or rapidly changing environments, such as search and rescue missions in a forest using a UAV.

Images

1000 Obstacles

Ground Truth

What UAV sees & remembers

Videos

Local Planner Global Planner
Dec 12 : 100 N
Dec 13 : 500 N
Dec 13 : 1000 N

10,000 Obstacle Path-finding Example

Download

You can download this project in either zip or tar formats.

You can also clone the project with Git by running:

$ git clone git://github.com/Elucidation/UAV-Motion-Planner-Ensemble