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Multi-Query Path Planning for Exploration Tasks with an Unmanned Rotorcraft

Adolf , Florian-Michael (2012) Multi-Query Path Planning for Exploration Tasks with an Unmanned Rotorcraft. AIAA Infotech@Aerospace, 19.-20. .Juni 2012, Garden Grove, CA.

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Official URL: https://www.aiaa.org/I@A2012/

Abstract

This paper presents an online multi-query path planner for exploration tasks planned onboard an unmanned helicopter. While the desirable properties of roadmaps can be exploited in offline path planning, the dynamic nature of exploration scenarios hinders to utilize conventional roadmap planners. Hence, the presented path planning approach utilizes a deterministically sampled roadmap which is dynamically indexed in real time. To address situations of partial terrain knowledge, the roadmap can be extended from its a priori dimensions towards locations of unknown terrain that are outside its original, a priori boundaries. The multi-query property of the planning system allows for combinatorial optimization such that a rapidly acting decisional autonomy is achievable during exploration flights. D*-Lite is used as dynamic heuristic path searcher in order to re-plan efficiently. Inspired by the original work on this path search algorithm, the roadmap graph is augmented with an exploration vertex which steers the exploration behavior of the vehicle. As a result, the presented roadmap guides an unmanned rotorcraft through a priori unknown urban terrain in real time.

Document Type:Conference or Workshop Item (Paper)
Title:Multi-Query Path Planning for Exploration Tasks with an Unmanned Rotorcraft
Authors:
AuthorsInstitution or Email of Authors
Adolf , Florian-Michaelflorian.adolf@dlr.de
Date:20 June 2012
Refereed publication:No
In SCOPUS:No
In ISI Web of Science:No
Status:Published
Keywords:UAV, Mission Planning, Exploration, Sampling-based Path Planning
Event Title:AIAA Infotech@Aerospace
Event Location:Garden Grove, CA
Event Type:international Conference
Event Dates:19.-20. .Juni 2012
Organizer:AIAA - American Institute of Aeronautics and Astronautics
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:16 Jul 2012 17:17
Last Modified:16 Jul 2012 17:17

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