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Evaluation Of The ARTIS Sampling-based Path Planner Using an Obstacle Field Navigation Benchmark

Adolf, Florian-Michael and Dittrich, Jörg Steffen (2012) Evaluation Of The ARTIS Sampling-based Path Planner Using an Obstacle Field Navigation Benchmark. AHS Forum 68, 2012-05-01 - 2012-05-03, Fort Worth, TX.

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Official URL: http://www.vtol.org/


This work presents performance assessments of a sampling-based motion planner for path planning and guidance in urban terrain with sensing unforeseen obstacles in the loop. An existing benchmark suite is utilized for this purpose, in order to enable comparison with other approaches. Moreover this benchmark is used to determine how close generated paths match the provided baseline solutions to which other solutions can be compared with. The evaluation results indicate an efficient replanning of our online multi-query planning approach. Furthermore conclusions from variations in the experiments with respect to sensor field of view, sample density, replanning rate and motion safety aspects help to understand practical aspects of our roadmap-based planning and guidance method.

Item URL in elib:https://elib.dlr.de/76396/
Document Type:Conference or Workshop Item (UNSPECIFIED)
Title:Evaluation Of The ARTIS Sampling-based Path Planner Using an Obstacle Field Navigation Benchmark
AuthorsInstitution or Email of AuthorsAuthor's ORCID iDORCID Put Code
Date:3 May 2012
Refereed publication:Yes
Open Access:No
Gold Open Access:No
In ISI Web of Science:No
Keywords:VTOL UAV, Benchmarking, Motion Planning, Obstacle Field Navigation
Event Title:AHS Forum 68
Event Location:Fort Worth, TX
Event Type:international Conference
Event Start Date:1 May 2012
Event End Date:3 May 2012
Organizer:The American Helicopter Society (AHS) International
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Aeronautics
HGF - Program Themes:Rotorcraft (old)
DLR - Research area:Aeronautics
DLR - Program:L RR - Rotorcraft Research
DLR - Research theme (Project):L - The Smart Rotorcraft (old)
Location: Braunschweig
Institutes and Institutions:Institute of Flight Systems > Unmanned Aircraft
Deposited By: Adolf, Florian-Michael
Deposited On:16 Jul 2012 17:21
Last Modified:24 Apr 2024 19:42

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