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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
AuthorsInstitution or Email of Authors
Adolf, Florian-MichaelDLR-FT
Andert, FranzDLR-FT
Furlan Rocha, João GilbertoInstituto Tecnológico de Aeronáutica (ITA), Sao José Dos Campos, Brasil
Date:April 2010
Refereed publication:Yes
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 (old)
HGF - Program:Aeronautics
HGF - Program Themes:L VU - Air Traffic and Environment (old)
DLR - Research area:Aeronautics
DLR - Program:L VU - Air Traffic and Environment
DLR - Research theme (Project):L - Air Traffic and Weather (old)
Location: Braunschweig
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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