Combining Occupancy Grids with a Polygonal Obstacle World Model for Autonomous Flights
Andert, Franz and Goormann, Lukas (2009) Combining Occupancy Grids with a Polygonal Obstacle World Model for Autonomous Flights. In: Aerial Vehicles Advanced Robotics Series. In-Tech. pp. 13-28. ISBN 978-953-7619-41-1.
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This chapter presents a mapping process that can be applied to autonomous systems for obstacle avoidance and trajectory planning. It is an improvement over commonly applied obstacle mapping techniques, such as occupancy grids. Problems encountered in large outdoor scenarios are tackled and a compressed map that can be sent on low-bandwidth networks is produced. The approach is real-time capable and works in full 3-D environments. The efficiency of the proposed approach is demonstrated under real operational conditions on an unmanned aerial vehicle using stereo vision for distance measurement.
|Document Type:||Contribution to a Collection|
|Title:||Combining Occupancy Grids with a Polygonal Obstacle World Model for Autonomous Flights|
|Journal or Publication Title:||Aerial Vehicles|
|In ISI Web of Science:||No|
|Page Range:||pp. 13-28|
|Series Name:||Advanced Robotics Series|
|Keywords:||Unmanned Aerial Vehicle, Stereo Vision, Mapping, World Modeling|
|HGF - Research field:||Aeronautics, Space and Transport|
|HGF - Program:||Aeronautics|
|HGF - Program Themes:||L - no assignement|
|DLR - Research area:||Aeronautics|
|DLR - Program:||L - no assignement|
|DLR - Research theme (Project):||["eprint_fieldopt_dlr_project_search_L000" not defined]|
|Institutes and Institutions:||Institute of Flight Systems > System Automation|
|Deposited By:||Dr.-Ing. Franz Andert|
|Deposited On:||11 Feb 2009|
|Last Modified:||27 Apr 2009 15:49|
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