A 3D trajectory planning scheme based on visual obstacle localization and avoidance

This paper presents an online obstacles localization and avoidance scheme for aerial vehicles to avoid obstacles conflictions over the order of seconds for general aviation. The online trajectory planning scheme contains two stages. In the first stage, stereo visual odometry is adopted to locate the local positions of the obstacle, and the local positions are fused with global positioning system (GPS) or differential GPS (DGPS) to obtain global map information. In the second stage, the smooth trajectory is real-time planned based on the map through receding horizon control based mixed integer linear programming. Simulations verified the feasibility of the proposed scheme.