Histo-Planner: A Real-time Local Planner for MAVs Teleoperation based on Histogram of Obstacle Distribution

This paper concerns real-time obstacle avoidance for micro aerial vehicles (MAVs). Motivated by teleoperation applications in cluttered environments with limited computational power, we propose a local planner that does not require the knowledge or construction of a global map of the obstacles. The proposed solution consists of a real-time trajectory planning algorithm that relies on the histogram of obstacle distribution and a planner manager that triggers different planning modes depending on obstacles location around the MAV. The proposed solution is validated, for a teleoperation application, with both simulations and indoor experiments. Benchmark comparisons based on a designed simulation platform are also provided.

@article{wang2025_2505.15043,
  title={ Histo-Planner: A Real-time Local Planner for MAVs Teleoperation based on Histogram of Obstacle Distribution },
  author={ Ze Wang and Zhenyu Gao and Jingang Qu and Pascal Morin },
  journal={arXiv preprint arXiv:2505.15043},
  year={ 2025 }
}