Rapid Online Path Planning Onboard A VTOL UAV
Adolf, Florian-Michael and Andert, Franz and Furlan Rocha, João Gilberto (2010) Rapid Online Path Planning Onboard A VTOL UAV. AIAA InfoTech at Aerospace, 20–22 April 2010, Atlanta, Georgia.
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Official URL: http://aiaa.org/content.cfm?pageid=407&lumeetingid=2358
This paper presents a rapid path planning approach enabling an unmanned aircraft to quickly react to newly located or changed obstacles. All three spatial dimensions are considered during planning, as it is likely to be necessary inside or under urban obstacles. A sampling based motion planning approach is combined with an anytime path search such that an online trade-off between path optimality and rapid path computation is possible. This substantial increase in system autonomy is achieved for holonomic manoeuvring through scenes with unforeseen obstacles changes. The proposed online planning approach does not require a highly reliable, real time remote control link for collision avoidance.
|Document Type:||Conference or Workshop Item (Paper)|
|Title:||Rapid Online Path Planning Onboard A VTOL UAV|
|In ISI Web of Science:||No|
|Keywords:||Path Planning, VTOL UAV|
|Event Title:||AIAA InfoTech at Aerospace|
|Event Location:||Atlanta, Georgia|
|Event Type:||international Conference|
|Event Dates:||20–22 April 2010|
|HGF - Research field:||Aeronautics, Space and Transport|
|HGF - Program:||Aeronautics|
|HGF - Program Themes:||L VU - Air Traffic and Environment|
|DLR - Research area:||Aeronautics|
|DLR - Program:||L VU - Air Traffic and Environment|
|DLR - Research theme (Project):||L - Air Traffic and Weather (old)|
|Institutes and Institutions:||Institute of Flight Systems > Unmanned Aircraft|
|Deposited By:||Florian-Michael Adolf|
|Deposited On:||27 Sep 2010 11:47|
|Last Modified:||26 Oct 2010 11:41|
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