Layered Mission and Path Planning for MAV Navigation with Partial Environment Knowledge

Successful operation of micro aerial vehicles in partially known environments requires globally consistent plans based on incomplete environment models and quick reactions to unknown obstacles by means of real-time planning of collision-free trajectories. In this paper, we propose a complete layered mission and navigation planning system based on coarse prior knowledge and local maps from omnidirectional onboard obstacle perception. We generate trajectories in a multilayered approach: from mission planning to global and local trajectory planning to motion control.

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