Mapping

To concatenate with the state estimation and mapping modules, a 3D motion planning module is designed for real-time path and trajectory generation, where a collision-free and dynamically feasible reference trajectory is generated to guide vehicles maneuver safely towards its desired target.

We present a comprehensive design and implementation for a micro aerial vehicle (MAV) that is able to perform 3D autonomous navigation and obstacle avoidance in cluttered and realistic unknown environments without the aid of GPS and other external sensors or markers.