Online world modeling and path planning for an unmanned helicopter |
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Authors: | Franz Andert Florian Adolf |
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Affiliation: | 1.German Aerospace Center (DLR),Institute of Flight Systems,Braunschweig,Germany |
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Abstract: | 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navigation and necessitate a continuous extension of existing and potentially outdated information about obstacles.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. |
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Keywords: | |
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