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Force Field-Based Indirect Manipulation Of UAV Flight Trajectories

Isop, Werner Alexander and Fraundorfer, Friedrich (2019) Force Field-Based Indirect Manipulation Of UAV Flight Trajectories. In: 2019 IEEE/RJS Conference on Intelligent Robots and Systems, pp. 1-8. IEEE. IROS 2019, 4. - 8. Nov. 2019, Macau, China.

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Abstract

For a variety of applications remote navigation of an unmanned aerial vehicle (UAV) along a flight trajectory is an essential task. For instance, during search and rescue missions in outdoor scenes, an important goal is to ensure safe navigation. Assessed by the remote operator, this could mean avoiding collisions with obstacles, but moreover avoiding hazardous flight areas. State of the art approaches enable navigation along trajectories, but do not allow for indirect manipulation during motion. In addition, they suggest to use egocentric views which could limit understanding of the remote scene. With this work we introduce a novel indirect manipulation method, based on gravitational law, to recover safe navigation in the presence of hazardous flight areas. The indirect character of our method supports manipulation at far distances where common direct manipulation methods typically fail. We combine it with an immersive exocentric view to improve understanding of the scene. We designed three flavors of our method and compared them during a user study in a simulated scene. While with this method we present a first step towards a more extensive navigation interface, as future work we plan experiments in dynamic real-world scenes.

Item URL in elib:https://elib.dlr.de/132441/
Document Type:Conference or Workshop Item (Speech)
Title:Force Field-Based Indirect Manipulation Of UAV Flight Trajectories
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Isop, Werner AlexanderGraz University of TechnologyUNSPECIFIED
Fraundorfer, Friedrichfriedrich.fraundorfer (at) dlr.dehttps://orcid.org/0000-0002-5805-8892
Date:November 2019
Journal or Publication Title:2019 IEEE/RJS Conference on Intelligent Robots and Systems
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In SCOPUS:No
In ISI Web of Science:No
Page Range:pp. 1-8
Publisher:IEEE
Status:Published
Keywords:UAV, Remote navigation, Collision avoidance
Event Title:IROS 2019
Event Location:Macau, China
Event Type:international Conference
Event Dates:4. - 8. Nov. 2019
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Transport
HGF - Program Themes:Road Transport
DLR - Research area:Transport
DLR - Program:V ST Straßenverkehr
DLR - Research theme (Project):V - NGC KoFiF
Location: Oberpfaffenhofen
Institutes and Institutions:Remote Sensing Technology Institute > Photogrammetry and Image Analysis
Deposited By: Reinartz, Prof. Dr.. Peter
Deposited On:06 Dec 2019 16:28
Last Modified:06 Dec 2019 16:28

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