@inproceedings{0e60351a5afa410296cd9f53bf84a05a,
title = "A Lightweight Collision-Inclusive Trajectory Planner for UAV",
abstract = "Since collision can change the velocity in a very short time, a collision-inclusive trajectory planning algorithm for unmanned aerial vehicle (UAV) can utilize collision to get a fast and energy-efficient trajectory in complex environments. We proposed a lightweight collision-inclusive trajectory planner, which can be integrated into a UAV system easily. The trajectory segments that need to be optimized are recognized by the curvature of the collision-free trajectory. After getting the pre-collision information by forward integration of sampled control, the optimal collision position and time will be generated by the collision-inclusive optimizer in 40ms. The experiments verify the effectiveness and efficiency of our method.",
keywords = "collision-inclusive, trajectory planning, unmanned aerial vehicle",
author = "Ning Chen and Sichen Yang and Yipeng Yang and Fangzhou Liu and Zhan Li",
note = "Publisher Copyright: {\textcopyright} 2025 IEEE.; 51st Annual Conference of the IEEE Industrial Electronics Society, IECON 2025 ; Conference date: 14-10-2025 Through 17-10-2025",
year = "2025",
doi = "10.1109/IECON58223.2025.11220989",
language = "英语",
series = "IECON Proceedings (Industrial Electronics Conference)",
publisher = "IEEE Computer Society",
booktitle = "IECON 2025 - 51st Annual Conference of the IEEE Industrial Electronics Society",
address = "美国",
}