A vortex-panel fluid flow planner, an MPC-HOCBF safety controller, and an adaptive Kalman filter are combined to navigate a quadcopter around static and fast-moving obstacles from 2D LiDAR.
Implementa- tion of quadrotor path planning using fluid flow equations,
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Stream Function-Based Navigation for Complex Quadcopter Obstacle Avoidance
A vortex-panel fluid flow planner, an MPC-HOCBF safety controller, and an adaptive Kalman filter are combined to navigate a quadcopter around static and fast-moving obstacles from 2D LiDAR.