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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.

Full text not available from this repository.

Official URL: http://www.aiaa.org/jacic/

Abstract

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.

Document Type:Article
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
Authors:
AuthorsInstitution or Email of Authors
Adolf, Florian-Michaelflorian.adolf@dlr.de
Andert, Franzfranz.andert@dlr.de
Date:November 2011
Journal or Publication Title:Journal of Aerospace Computing Information and Communication
Refereed publication:Yes
In SCOPUS:No
In ISI Web of Science:Yes
Volume:8
DOI:10.2514/1.52692
Page Range:pp. 310-327
Editors:
EditorsEmail
Atkins, Ellaematkins@umich.edu
Publisher:American Institute of Aeronautics and Astronautics, Inc.
ISSN:1940-3151
Status:Published
Keywords:Unmanned Aircraft Mission Planning
HGF - Research field:Aeronautics, Space and Transport
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: Florian-Michael Adolf
Deposited On:24 Nov 2011 14:47
Last Modified:07 Feb 2013 19:39

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