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Local Path Planning and Obstacle Avoidance for an Omnicopter Platform

arXiv · AI, language, vision and robotics · article · Sep 3, 2026 · UTC

Autonomous unmanned aerial vehicles (UAVs) increasingly operate in cluttered environments where global planners such as RRT* are not directly deployable at control rates. This paper presents a real-time local planning and obstacle avoidance module for an omnidirectional multirotor (omnicopter) by extending the Dynamic Window Approach to six degrees of freedom (6D-DWA). Our method achieves real-time feasibility through (i) local-map voxelisation, (ii) a compact sphere-based approximation of the vehicle geometry, and (iii) adaptive velocity sampling in the 6D search space. To improve reactivity

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Evidence & attribution

arXiv · AI, language, vision and robotics · 2026-09-03T10:25:14.000Z

First collected: 2026-09-21T04:51:57.792Z. This is not the publication date.