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Rapid Multi-Query Path Planning For A Vertical Take-Off and Landing Unmanned Aerial Vehicle

Adolf, Florian-Michael und 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), Seiten 310-327. American Institute of Aeronautics and Astronautics, Inc.. DOI: 10.2514/1.52692. ISSN 1940-3151.

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

Kurzfassung

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.

Dokumentart:Zeitschriftenbeitrag
Zusätzliche Informationen: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
Titel:Rapid Multi-Query Path Planning For A Vertical Take-Off and Landing Unmanned Aerial Vehicle
Autoren:
AutorenInstitution oder E-Mail-Adresse der Autoren
Adolf, Florian-Michaelflorian.adolf@dlr.de
Andert, Franzfranz.andert@dlr.de
Datum:November 2011
Erschienen in:Journal of Aerospace Computing Information and Communication
Referierte Publikation:Ja
In SCOPUS:Nein
In ISI Web of Science:Ja
Band:8
DOI :10.2514/1.52692
Seitenbereich:Seiten 310-327
Herausgeber:
HerausgeberInstitution und/oder E-Mail-Adresse der Herausgeber
Atkins, Ellaematkins@umich.edu
Verlag:American Institute of Aeronautics and Astronautics, Inc.
ISSN:1940-3151
Status:veröffentlicht
Stichwörter:Unmanned Aircraft Mission Planning
HGF - Forschungsbereich:Luftfahrt, Raumfahrt und Verkehr
HGF - Programm:Luftfahrt
HGF - Programmthema:Drehflügler
DLR - Schwerpunkt:Luftfahrt
DLR - Forschungsgebiet:L RR - Drehflüglerforschung
DLR - Teilgebiet (Projekt, Vorhaben):L - Der intelligente Drehflügler
Standort: Braunschweig
Institute & Einrichtungen:Institut für Flugsystemtechnik > Unbemannte Luftfahrzeuge
Hinterlegt von: Florian-Michael Adolf
Hinterlegt am:24 Nov 2011 14:47
Letzte Änderung:07 Feb 2013 19:39

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