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Evaluation Of The ARTIS Sampling-based Path Planner Using an Obstacle Field Navigation Benchmark

Adolf, Florian-Michael (2012) Evaluation Of The ARTIS Sampling-based Path Planner Using an Obstacle Field Navigation Benchmark. AHS Forum 68, 1.-3. Mai 2012, Fort Worth, TX.

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Official URL: http://www.vtol.org/

Abstract

This work presents performance assessments of a sampling-based motion planner for path planning and guidance in urban terrain with sensing unforeseen obstacles in the loop. An existing benchmark suite is utilized for this purpose, in order to enable comparison with other approaches. Moreover this benchmark is used to determine how close generated paths match the provided baseline solutions to which other solutions can be compared with. The evaluation results indicate an efficient replanning of our online multi-query planning approach. Furthermore conclusions from variations in the experiments with respect to sensor field of view, sample density, replanning rate and motion safety aspects help to understand practical aspects of our roadmap-based planning and guidance method.

Document Type:Conference or Workshop Item (Paper)
Title:Evaluation Of The ARTIS Sampling-based Path Planner Using an Obstacle Field Navigation Benchmark
Authors:
AuthorsInstitution or Email of Authors
Adolf, Florian-Michaelflorian.adolf@dlr.de
Date:3 May 2012
Refereed publication:Yes
In ISI Web of Science:No
Status:Published
Keywords:VTOL UAV, Benchmarking, Motion Planning, Obstacle Field Navigation
Event Title:AHS Forum 68
Event Location:Fort Worth, TX
Event Type:international Conference
Event Dates:1.-3. Mai 2012
Organizer:The American Helicopter Society (AHS) International
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 17:21
Last Modified:19 Jul 2012 12:56

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