Mapping and Path Planning in Complex Environments: An Obstacle Avoidance Approach for an Unmanned Helicopter
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.
Franz Andert Florian Adolf Lukas Goormann J(o)rg Dittrich
German Aerospace Center (DLR),Institute of Flight Systems 38108 Braunschweig,Germany
国际会议
2011 IEEE International Conference on Robotics and Automation(2011年IEEE世界机器人与自动化大会 ICRA 2011)
上海
英文
745-750
2011-05-09（万方平台首次上网日期，不代表论文的发表时间）