Rapid Multi-Query Path Planning For A Vertical Take-Off and Landing Unmanned Aerial Vehicle
Adolf, Florian-Michael and Andert, Franz (2011) Rapid Multi-Query Path Planning For A Vertical Take-Off and Landing Unmanned Aerial Vehicle. Journal of Aerospace Computing Information and Communication, 8 (11), pp. 310-327. American Institute of Aeronautics and Astronautics, Inc.. DOI: 10.2514/1.52692. ISSN 1940-3151.
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Official URL: http://www.aiaa.org/jacic/
This paper presents an online approach for multi-query path planning that enables 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 for urban terrain with overhangs or inside buildings.Asampling-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. The presented global path planner can rapidly handle global cost changes acquired during flight. Moreover, the multi-query property of the planning system supports combinatorial optimization problems such that the decisional autonomy is maximized during flight. This increase in system autonomy is achieved for holonomic maneuvering through scenes with unforeseen obstacle changes. This way, a common constraining requirement for unmanned aircraft can be relaxed: with onboard sensing and planning capabilities, a highly reliable, real-time remote control link is not necessary to ensure collision-free flight and higher level decision-making.
|Additional Information:||More information about this unmanned rotorcraft - esp navigation, obstacle mapping and planning - is summarized in http://www.gwr09.org/index.php?option=com_content&task=view&id=33|
|Title:||Rapid Multi-Query Path Planning For A Vertical Take-Off and Landing Unmanned Aerial Vehicle|
|Journal or Publication Title:||Journal of Aerospace Computing Information and Communication|
|In ISI Web of Science:||Yes|
|Page Range:||pp. 310-327|
|Publisher:||American Institute of Aeronautics and Astronautics, Inc.|
|Keywords:||Unmanned Aircraft Mission Planning|
|HGF - Research field:||Aeronautics, Space and Transport|
|HGF - Program:||Aeronautics|
|HGF - Program Themes:||L RR - Rotorcraft Research|
|DLR - Research area:||Aeronautics|
|DLR - Program:||L RR - Rotorcraft Research|
|DLR - Research theme (Project):||L - The Smart Rotorcraft|
|Institutes and Institutions:||Institute of Flight Systems > Unmanned Aircraft|
|Deposited By:||Florian-Michael Adolf|
|Deposited On:||24 Nov 2011 14:47|
|Last Modified:||07 Feb 2013 19:39|
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