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Mapping and Path Planning in Complex Environments: An Obstacle Avoidance Approach for an Unmanned Helicopter

Andert, Franz and Adolf, Florian-Michael and Goormann, Lukas and Dittrich, Jörg (2011) Mapping and Path Planning in Complex Environments: An Obstacle Avoidance Approach for an Unmanned Helicopter. In: Proceedings of the International Conference of Robotics and Automation, 2011, pp. 745-750. ICRA 2011, 9.-13. Mai 2011, Shanghai, China. ISBN 978-1-61284-380-3.

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Abstract

This paper presents an obstacle avoidance method that is performed with an unmanned helicopter. The approach begins with a mapping step where information from sensor data about previously unknown dangers is extracted into an occupancy grid and eventually converted into a polygonal 3D world model. This continuously updating map is used by a path planner that generates and updates a 3D trajectory guiding the vehicle through safe passages around the detected objects. The algorithms are generic but optimized for unmanned aircraft and a stereo camera as the environmental sensor. Computation is fully executed on board so that a ground control station is only needed for supervision. With successful obstacle detection and avoidance flight tests, the paper shows the qualification of the presented method under real operational conditions.

Document Type:Conference or Workshop Item (Speech, Paper)
Title:Mapping and Path Planning in Complex Environments: An Obstacle Avoidance Approach for an Unmanned Helicopter
Authors:
AuthorsInstitution or Email of Authors
Andert, Franzfranz.andert@dlr.de
Adolf, Florian-Michaelflorian.adolf@dlr.de
Goormann, Lukaslukas.goormann@dlr.de
Dittrich, Jörgjoerg.dittrich@dlr.de
Date:10 May 2011
Journal or Publication Title:Proceedings of the International Conference of Robotics and Automation, 2011
Refereed publication:Yes
In ISI Web of Science:No
Page Range:pp. 745-750
ISBN:978-1-61284-380-3
Status:Published
Keywords:Mapping, Path Planning, Unmanned Aerial Vehicle, Obstacle Avoidance
Event Title:ICRA 2011
Event Location:Shanghai, China
Event Type:international Conference
Event Dates:9.-13. Mai 2011
Organizer:IEEE Robotics & Automation Society
HGF - Research field:Aeronautics, Space and Transport (old)
HGF - Program:Aeronautics
HGF - Program Themes:Rotorcraft
DLR - Research area:Aeronautics
DLR - Program:L RR - Rotorcraft Research
DLR - Research theme (Project):L - The Smart Rotorcraft
Location: Braunschweig
Institutes and Institutions:Institute of Flight Systems > Unmanned Aircraft
Deposited By: Dr.-Ing. Franz Andert
Deposited On:17 May 2011 16:25
Last Modified:30 Jun 2011 13:39

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