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Online world modeling and path planning for an unmanned helicopter

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.

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Official 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require capabilities for autonomous safe navigation and necessitate a continuous extension of existing and potentially outdated information about obstacles.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.

Item URL in elib:https://elib.dlr.de/59768/
Document Type:Article
Title:Online world modeling and path planning for an unmanned helicopter
AuthorsInstitution or Email of AuthorsAuthor's ORCID iDORCID Put Code
Date:19 August 2009
Journal or Publication Title:Autonomous Robots
Refereed publication:Yes
Open Access:No
Gold Open Access:No
In ISI Web of Science:Yes
Page Range:pp. 147-164
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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