3D-Online Generalized Sensed Shape Expansion: A Probabilistically Complete Motion Planner in Obstacle-Cluttered Unknown Environments

Zinage, Vrushabh; Arul, Senthil Hariharan; Manocha, Dinesh; Ghosh, Satadal

doi:10.1109/lra.2023.3263376

Cited by 1 publication

(1 citation statement)

References 28 publications

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“…In recent years, notable advancements in UAV data processing and flight abilities control, as well as future research directions [10], have been achieved in addressing the multifaceted challenges associated with UAV operations within confined environments. Of particular importance is the generation of 3D flight corridors, which establish secure pathways for UAVs to navigate within constrained spaces [11][12][13][14][15]. However, current methodologies cannot be easily applied in confined chaotic spaces where the flight corridor would require the embodiment of a somewhat complex topological framework that incorporates various environmental constraints.…”

Section: Introductionmentioning

confidence: 99%

Three-Dimensional Flight Corridor: An Occupancy Checking Process for Unmanned Aerial Vehicle Motion Planning inside Confined Spaces

Mostafa,

Ramirez-Serrano

2023

Robotics

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To deploy Unmanned Aerial Vehicles (UAVs) inside heterogeneous GPS-denied confined (potentially unknown) spaces, such as those encountered in mining and Urban Search and Rescue (USAR), requires the enhancement of numerous technologies. Of special interest is for UAVs to identify collision-freeSafe Flight Corridors (SFC+) within highly cluttered convex- and non-convex-shaped environments, which requires UAVs to perform advanced flight maneuvers while exploiting their flying capabilities. Within this paper, a novel auxiliary occupancy checking process that augments traditional 3D flight corridor generation is proposed. The 3D flight corridor is established as a topological structure based on a hand-crafted path either derived from a computer-generated environment or provided by the human operator, which captures humans’ preferences and desired flight intentions for the given space. This corridor is formulated as a series of interconnected overlapping convex polyhedra bounded by the perceived environmental geometries, which facilitates the generation of suitable 3D flight paths/trajectories that avoid local minima within the corridor boundaries. An occupancy check algorithm is employed to reduce the search space needed to identify 3D obstacle-free spaces in which their constructed polyhedron geometries are replaced with alternate convex polyhedra. To assess the feasibility and efficiency of the proposed SFC+ methodology, a comparative study is conducted against the Star-Convex Method (SCM), a prominent algorithm in the field. The results reveal the superiority of the proposed SFC+ methodology in terms of its computational efficiency and reduced search space for UAV maneuvering solutions. Various challenging confined-environment scenarios, each with different obstacle densities (confined scenarios), are utilized to verify the obtained outcomes.

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