A method for collision free sensor network based navigation of flying robots among moving and steady obstacles

In this paper, we propose a safe navigation algorithm for non-holonomic flying robots. To detect the static and moving obstacles, a sensor network, which consists of some time-of-flight cameras, is deployed in a three dimensional environment. The robot or a server obtains the real-time measurements of the environment from the cameras and calculates a temporarily safe robot path from the robot's current position to the target. The temporarily safe path is updated at each time step according to the updated measurements. The computer simulations confirm the expected performance of the proposed algorithm.