Fig. 8: Demonstrations of the pilot reference path searching module for assisted obstacle avoidance.
From: Slope inspection under dense vegetation using LiDAR-based quadrotors
a Mapping the joystick commands to reference velocity in the quadrotor’s yaw frame vjoy and reference yaw angular velocity wψ,r. Then the local goal pg and the quadrotor’s yaw reference ψr is identified. b Schematic of reference path searching. If the quadrotor’s current position being in an Inflation (Occupied Inflation or Unknown Inflation) grid cell, a reference path Pinf is first searched to leave the inflation area (b1). If the pg is in No Inflation state but occluded by Inflation grid cells, the farthest visible No Inflation grid cell will be identified as the new pg (b2). If the pg is in Inflation state, a nearby No Inflation grid cell will be identified as the new pg (b3).
