11 Dynamics and Control of Drones and Unmanned Aerial Vehicles
11.1 Introduction
The problem of autonomous navigation of a drone is to ensure that the vehicle can move while avoiding collisions with any obstacles and its surroundings in its environment. The motion planning problem is to find a collision-free trajectory between an initial and a final configuration in a configuration space, while satisfying some kinematic and dynamic constraints. Navigation paradigms for autonomous mobile robots in general can be classified into deliberative (based on global planning), sensor-based (based only on local planning) or hybrid. Drone navigation methods can alternatively be classified into map-based or map-less approaches. ...
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