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

Kurzfassung

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.

Dokumentart:Konferenzbeitrag (Vortrag)
Titel:Multi-Query Path Planning for Exploration Tasks with an Unmanned Rotorcraft
Autoren:
AutorenInstitution oder E-Mail-Adresse der Autoren
Adolf, Florian-Michaelflorian.adolf@dlr.de
Datum:20 Juni 2012
Referierte Publikation:Nein
In ISI Web of Science:Nein
Status:veröffentlicht
Stichwörter:UAV, Mission Planning, Exploration, Sampling-based Path Planning
Veranstaltungstitel:AIAA Infotech@Aerospace
Veranstaltungsort:Garden Grove, CA
Veranstaltungsart:internationale Konferenz
Veranstaltungsdatum:19.-20. .Juni 2012
Veranstalter :AIAA - American Institute of Aeronautics and Astronautics
HGF - Forschungsbereich:Luftfahrt, Raumfahrt und Verkehr
HGF - Programm:Luftfahrt
HGF - Programmthema:Drehflügler (alt)
DLR - Schwerpunkt:Luftfahrt
DLR - Forschungsgebiet:L RR - Drehflüglerforschung
DLR - Teilgebiet (Projekt, Vorhaben):L - Der intelligente Drehflügler (alt)
Standort: Braunschweig
Institute & Einrichtungen:Institut für Flugsystemtechnik > Unbemannte Luftfahrzeuge
Hinterlegt von: Florian-Michael Adolf
Hinterlegt am:16 Jul 2012 17:17
Letzte Änderung:28 Jan 2015 09:13

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