Mapping and Path Planning in Complex Environments: An Obstacle Avoidance Approach for an Unmanned Helicopter
| Autor: | Lukas Goormann, Franz Andert, Florian Adolf, Jörg Steffen Dittrich |
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| Rok vydání: | 2011 |
| Předmět: |
Engineering
Collision avoidance (spacecraft) Occupancy grid mapping business.industry Path Planning Real-time computing Ground control station Unmanned Aerial Vehicle Remotely operated underwater vehicle Mapping Obstacle Obstacle avoidance Computer vision Artificial intelligence Motion planning business Stereo camera Obstacle Avoidance |
| Zdroj: | ICRA |
| Popis: | 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. |
| Databáze: | OpenAIRE |
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