Fig. 1 Block Diagram of Autonomous Flight System
Fig. 2 UAV and 2-D Lidar's TF Structure
Fig. 3 GAZEBO Simulation
Fig. 4 Rviz 3-D Visualization Tool
Fig. 5 Local Avoidance Path Generation Based VFH
Fig. 6 Polar Histogram and Threshold
Fig. 7 Block Diagram of Modified RRT*-Smart Algorithm
Fig. 8 RRT*-Smart Algorithm (left), Modified RRT*-Smart Algorithm (right)
Fig. 9 Global Avoidance Path Generation (left), Local Avoidance Path Generation and Global Avoidance Path Regeneration by Proximity Obstacle (right)
Fig. 10 Global Path Regeneration
Fig. 11 UAV Used for Outdoor Flight
Fig. 12 Outdoor Flight Environment
Fig. 13 2-D Map and Global Path Flight
Fig. 14 Local Avoidance Path Generation and Global Avoidance Path Regeneration by Proximity Obstacle (left), Global Avoidance Path Generation (right)
Table 1 Performance Comparison of RRT*-Smart and Modified RRT*-Smart
Table 2 Main Components and Used Model
Table 3 Specification of Intel NUC Embedded Computer
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