Robust Navigation for Racing Drones based on Imitation Learning and Modularization
Tianqi Wang Dong Eui Chang Tianqi Wang Dong Eui Chang
This paper presents a vision-based modularized drone racing navigation system that uses a customized convolutional neural network (CNN) for the perception module to produce high-level navigation commands and then leverages a state-of-the-art planner and controller to generate low-level control commands, thus exploiting the advantages of both data- based and model-based approaches. Unlike the state...