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Online world modeling and path planning for an unmanned helicopter

Andert, Franz und Adolf, Florian-Michael (2009) Online world modeling and path planning for an unmanned helicopter. Autonomous Robots (27), Seiten 147-164. Springer Netherlands. DOI: 10.1007/s10514-009-9134-y ISSN 0929-5593

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Offizielle URL: http://www.springer.com/computer/artificial/journal/10514


Mission scenarios beyond line of sight or with limited ground control station access require capabilities for autonomous safe navigation and necessitate a continuous extension of existing and potentially outdated information about obstacles. The presented approach is a novel synthesis of techniques for 3D environment perception and global path planning. A locally bounded sensor fusion approach is used to extract sparse obstacles for global incremental path planning in an anytime fashion. During the flight, a stereo camera checks the field of view along the flight path ahead by analyzing depth images. A 3D occupancy grid is built incrementally. To reduce the high data rate and storage demands of grid-type maps, an approximated polygonal world model is created. For a compacted representation, it uses prisms and ground planes. This enables the system to constantly renew and update its knowledge about obstacles. An incremental heuristic path planner uses both a-priori information as well as incremental obstacle updates to assure a collision-free path at any time. Mapping results from flight tests show the functionality of onboard world modeling from real sensor data. Path planning feasibility is demonstrated within a simulation environment considering world model changes inside the vehicle’s field of view.

Titel:Online world modeling and path planning for an unmanned helicopter
AutorenInstitution oder E-Mail-AdresseAutoren-ORCID-iD
Andert, Franzfranz.andert@dlr.deNICHT SPEZIFIZIERT
Adolf, Florian-Michaelflorian.adolf@dlr.deNICHT SPEZIFIZIERT
Datum:19 August 2009
Erschienen in:Autonomous Robots
Referierte Publikation:Ja
In Open Access:Nein
In ISI Web of Science:Ja
DOI :10.1007/s10514-009-9134-y
Seitenbereich:Seiten 147-164
Verlag:Springer Netherlands
Stichwörter:Unmanned aerial vehicle; Stereo vision; Mapping; World modeling; Path planning; Obstacle avoidance
HGF - Forschungsbereich:Luftfahrt, Raumfahrt und Verkehr
HGF - Programm:keine Zuordnung
HGF - Programmthema:keine Zuordnung
DLR - Schwerpunkt:Luftfahrt
DLR - Forschungsgebiet:L - keine Zuordnung
DLR - Teilgebiet (Projekt, Vorhaben):L - keine Zuordnung (alt)
Standort: Braunschweig
Institute & Einrichtungen:Institut für Flugsystemtechnik > Unbemannte Luftfahrzeuge
Hinterlegt von: Andert, Dr.-Ing. Franz
Hinterlegt am:21 Okt 2009 14:01
Letzte Änderung:26 Mär 2013 13:11

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