Mattenklodt, Lukas und Paintner, Rafael und Keßler, Christoph (2023) HELICOPTER PATH PLANNING USING U-NET INFORMED BIASED SAMPLING. In: DLRK. DEUTSCHER LUFT- UND RAUMFAHRTKONGRESS 2023, 2023-09-19 - 2023-09-21, Stuttgart, Deutschland.
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Kurzfassung
To increase the safety of helicopter operations during missions in close proximity to obstacles under degraded visual conditions, assistance systems such as obstacle-avoiding path planning algorithms can be used. However, conventional planners may take a long time to find a suitable solution, respectively to converge to an optimum, when used in high dimensional state spaces. This paper describes a method to enhance the convergence time of sampling-based nonholonomic path planning algorithms. To accomplish this, the sampling distribution is biased towards the most promising regions. These distributions are approximated based on the obstacle scenery as well as start and goal state using a U-NET and artificial potential fields. Experiments were conducted with the proposed technique implemented into a BIT*-algorithm - which demonstrated a reduction in average path cost - and into an RRT-algorithm, resulting in improvements in the overall solution cost. This paper applies the described optimization method to planning problems in three dimensions, considering simplified helicopter kinematics, using an expanded Dubins state space
elib-URL des Eintrags: | https://elib.dlr.de/198351/ | ||||||||||||||||
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Dokumentart: | Konferenzbeitrag (Vortrag) | ||||||||||||||||
Titel: | HELICOPTER PATH PLANNING USING U-NET INFORMED BIASED SAMPLING | ||||||||||||||||
Autoren: |
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Datum: | 19 September 2023 | ||||||||||||||||
Erschienen in: | DLRK | ||||||||||||||||
Referierte Publikation: | Ja | ||||||||||||||||
Open Access: | Nein | ||||||||||||||||
Gold Open Access: | Nein | ||||||||||||||||
In SCOPUS: | Nein | ||||||||||||||||
In ISI Web of Science: | Nein | ||||||||||||||||
Status: | veröffentlicht | ||||||||||||||||
Stichwörter: | Path Planning, Machine Learning, Dubins Path | ||||||||||||||||
Veranstaltungstitel: | DEUTSCHER LUFT- UND RAUMFAHRTKONGRESS 2023 | ||||||||||||||||
Veranstaltungsort: | Stuttgart, Deutschland | ||||||||||||||||
Veranstaltungsart: | nationale Konferenz | ||||||||||||||||
Veranstaltungsbeginn: | 19 September 2023 | ||||||||||||||||
Veranstaltungsende: | 21 September 2023 | ||||||||||||||||
Veranstalter : | DGLR | ||||||||||||||||
HGF - Forschungsbereich: | Luftfahrt, Raumfahrt und Verkehr | ||||||||||||||||
HGF - Programm: | Luftfahrt | ||||||||||||||||
HGF - Programmthema: | Effizientes Luftfahrzeug | ||||||||||||||||
DLR - Schwerpunkt: | Luftfahrt | ||||||||||||||||
DLR - Forschungsgebiet: | L EV - Effizientes Luftfahrzeug | ||||||||||||||||
DLR - Teilgebiet (Projekt, Vorhaben): | L - Virtueller Hubschrauber und Validierung | ||||||||||||||||
Standort: | Braunschweig | ||||||||||||||||
Institute & Einrichtungen: | Institut für Flugsystemtechnik > Hubschrauber Institut für Flugsystemtechnik > Sichere Systeme und System Engineering Institut für Flugsystemtechnik > Leitungsbereich FT | ||||||||||||||||
Hinterlegt von: | Paintner, Rafael | ||||||||||||||||
Hinterlegt am: | 28 Nov 2023 11:33 | ||||||||||||||||
Letzte Änderung: | 24 Apr 2024 20:58 |
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