Filtered Medial Surface Based Approach for 3D Collision-Free Path Planning Problem

<div>Comparison between the proposed approach based on different UAV sizes (20 cm (cyan line), 40 cm (magenta line)) and the A-star applied on the occupancy grid taking into account different UAV sizes (20 cm (orange line), 40 cm (black line)).</div>

Journal of Robotics

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Figure 6

Figure 6: Filtered Medial Surface Based Approach for 3D Collision-Free Path Planning Problem 