Andert, Franz und Adolf, Florian-Michael und Goormann, Lukas und Dittrich, Jörg (2011) Mapping and Path Planning in Complex Environments: An Obstacle Avoidance Approach for an Unmanned Helicopter. In: Proceedings of the International Conference of Robotics and Automation, 2011, Seiten 745-750. ICRA 2011, 2011-05-09 - 2011-05-13, Shanghai, China. doi: 10.1109/icra.2011.5979535. ISBN 978-1-61284-380-3.
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Kurzfassung
This paper presents an obstacle avoidance method that is performed with an unmanned helicopter. The approach begins with a mapping step where information from sensor data about previously unknown dangers is extracted into an occupancy grid and eventually converted into a polygonal 3D world model. This continuously updating map is used by a path planner that generates and updates a 3D trajectory guiding the vehicle through safe passages around the detected objects. The algorithms are generic but optimized for unmanned aircraft and a stereo camera as the environmental sensor. Computation is fully executed on board so that a ground control station is only needed for supervision. With successful obstacle detection and avoidance flight tests, the paper shows the qualification of the presented method under real operational conditions.
elib-URL des Eintrags: | https://elib.dlr.de/69831/ | ||||||||||
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Dokumentart: | Konferenzbeitrag (Vortrag, Paper) | ||||||||||
Titel: | Mapping and Path Planning in Complex Environments: An Obstacle Avoidance Approach for an Unmanned Helicopter | ||||||||||
Autoren: |
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Datum: | 10 Mai 2011 | ||||||||||
Erschienen in: | Proceedings of the International Conference of Robotics and Automation, 2011 | ||||||||||
Open Access: | Nein | ||||||||||
In SCOPUS: | Nein | ||||||||||
In ISI Web of Science: | Nein | ||||||||||
DOI: | 10.1109/icra.2011.5979535 | ||||||||||
Seitenbereich: | Seiten 745-750 | ||||||||||
ISBN: | 978-1-61284-380-3 | ||||||||||
Stichwörter: | Mapping, Path Planning, Unmanned Aerial Vehicle, Obstacle Avoidance | ||||||||||
Veranstaltungstitel: | ICRA 2011 | ||||||||||
Veranstaltungsort: | Shanghai, China | ||||||||||
Veranstaltungsart: | internationale Konferenz | ||||||||||
Veranstaltungsbeginn: | 9 Mai 2011 | ||||||||||
Veranstaltungsende: | 13 Mai 2011 | ||||||||||
Veranstalter : | IEEE Robotics & Automation Society | ||||||||||
DLR - Schwerpunkt: | Luftfahrt | ||||||||||
DLR - Forschungsgebiet: | L RR - Drehflüglerforschung | ||||||||||
Standort: | Braunschweig | ||||||||||
Institute & Einrichtungen: | Institut für Flugsystemtechnik > Unbemannte Luftfahrzeuge |
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