Andert, Franz and Adolf, Florian-Michael (2009) Online world modeling and path planning for an unmanned helicopter. Autonomous Robots (27), pp. 147-164. Springer. doi: 10.1007/s10514-009-9134-y. ISSN 0929-5593.
Full text not available from this repository.
Official URL: http://www.springer.com/computer/artificial/journal/10514
Abstract
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require capabilities for autonomous safe navigation and necessitate a continuous extension of existing and potentially outdated information about obstacles.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 vehicleâÂÂs field of view.
Item URL in elib: | https://elib.dlr.de/59768/ | ||||||||||||
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Document Type: | Article | ||||||||||||
Title: | Online world modeling and path planning for an unmanned helicopter | ||||||||||||
Authors: |
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Date: | 19 August 2009 | ||||||||||||
Journal or Publication Title: | Autonomous Robots | ||||||||||||
Refereed publication: | Yes | ||||||||||||
Open Access: | No | ||||||||||||
Gold Open Access: | No | ||||||||||||
In SCOPUS: | Yes | ||||||||||||
In ISI Web of Science: | Yes | ||||||||||||
DOI: | 10.1007/s10514-009-9134-y | ||||||||||||
Page Range: | pp. 147-164 | ||||||||||||
Publisher: | Springer | ||||||||||||
ISSN: | 0929-5593 | ||||||||||||
Status: | Published | ||||||||||||
Keywords: | Unmanned aerial vehicle; Stereo vision; Mapping; World modeling; Path planning; Obstacle avoidance | ||||||||||||
HGF - Research field: | Aeronautics, Space and Transport | ||||||||||||
HGF - Program: | other | ||||||||||||
HGF - Program Themes: | other | ||||||||||||
DLR - Research area: | Aeronautics | ||||||||||||
DLR - Program: | L - no assignment | ||||||||||||
DLR - Research theme (Project): | L - no assignment (old) | ||||||||||||
Location: | Braunschweig | ||||||||||||
Institutes and Institutions: | Institute of Flight Systems > Unmanned Aircraft | ||||||||||||
Deposited By: | Andert, Dr.-Ing. Franz | ||||||||||||
Deposited On: | 21 Oct 2009 14:01 | ||||||||||||
Last Modified: | 06 Sep 2019 15:18 |
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