Andert, Franz and Adolf, Florian-Michael (2009) Online world modeling and path planning for an unmanned helicopter. Autonomous Robots (27), pp. 147-164. Springer Netherlands. DOI: 10.1007/s10514-009-9134-y. ISSN 0929-5593.
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Mission scenarios beyond line of sight or with limited ground control station access require capabilities for autonomous safe navigation and necessitate a continuous extension of existing and potentially outdated information about obstacles. The presented approach is a novel synthesis of techniques for 3D environment perception and global path planning. A locally bounded sensor fusion approach is used to extract sparse obstacles for global incremental path planning in an anytime fashion. During the flight, a stereo camera checks the field of view along the flight path ahead by analyzing depth images. A 3D occupancy grid is built incrementally. To reduce the high data rate and storage demands of grid-type maps, an approximated polygonal world model is created. For a compacted representation, it uses prisms and ground planes. This enables the system to constantly renew and update its knowledge about obstacles. An incremental heuristic path planner uses both a-priori information as well as incremental obstacle updates to assure a collision-free path at any time. Mapping results from flight tests show the functionality of onboard world modeling from real sensor data. Path planning feasibility is demonstrated within a simulation environment considering world model changes inside the vehicleÃ¢ÂÂs field of view.
|Title:||Online world modeling and path planning for an unmanned helicopter|
|Date:||19 August 2009|
|Journal or Publication Title:||Autonomous Robots|
|In ISI Web of Science:||Yes|
|Page Range:||pp. 147-164|
|Keywords:||Unmanned aerial vehicle; Stereo vision; Mapping; World modeling; Path planning; Obstacle avoidance|
|HGF - Research field:||Aeronautics, Space and Transport|
|HGF - Program:||other|
|HGF - Program Themes:||other|
|DLR - Research area:||Aeronautics|
|DLR - Program:||L - no assignement|
|DLR - Research theme (Project):||L -- no assignement|
|Institutes and Institutions:||Institute of Flight Systems > Unmanned Aircraft|
|Deposited By:||Dr.-Ing. Franz Andert|
|Deposited On:||21 Oct 2009 14:01|
|Last Modified:||26 Mar 2013 13:11|
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