Mapping and path planning in complex environments: An obstacle avoidance approach for an unmanned helicopter

Andert, Franz; Adolf, Florian; Goormann, Lukas; Dittrich, Jörg

doi:10.1109/icra.2011.5979535

Cited by 18 publications

(19 citation statements)

References 16 publications

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“…The applications of these systems are quite compelling, such as power line detection and avoidance [3] or reactive avoidance of poles and other small obstacles [4]. Others show high level planning from 3D maps from stereo [5] [6], or from Kinect [7] [8]. Other systems solve similar use-cases as ours: vision-based avoidance in GPSdenied environments [9].…”

Section: Related Workmentioning

confidence: 82%

Reactive avoidance using embedded stereo vision for MAV flight

Oleynikova

Honegger

Pollefeys

2015

2015 IEEE International Conference on Robotics and Automation (ICRA)

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High speed, low latency obstacle avoidance is essential for enabling Micro Aerial Vehicles (MAVs) to function in cluttered and dynamic environments. While other systems exist that do high-level mapping and 3D path planning for obstacle avoidance, most of these systems require high-powered CPUs on-board or off-board control from a ground station.We present a novel entirely on-board approach, leveraging a light-weight low power stereo vision system on FPGA. Our approach runs at a frame rate of 60 frames a second on VGAsized images and minimizes latency between image acquisition and performing reactive maneuvers, allowing MAVs to fly more safely and robustly in complex environments. We also suggest our system as a light-weight safety layer for systems undertaking more complex tasks, like mapping the environment.Finally, we show our algorithm implemented on a lightweight, very computationally constrained platform, and demonstrate obstacle avoidance in a variety of environments.

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Section: Related Workmentioning

confidence: 82%

Reactive avoidance using embedded stereo vision for MAV flight

Oleynikova

Honegger

Pollefeys

2015

2015 IEEE International Conference on Robotics and Automation (ICRA)

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“…Usually, the complete dynamical model of an RFR system can be divided into three parts: the actuator dynamics, the aerodynamics, and the rigid body dynamics. In this paper, only the rigid body dynamics as shown in the following equation (1) is considered [3]:…”

Section: Dynamical Model Of the Rfr Systemmentioning

confidence: 99%

“…The autonomous rotor-flying robot (RFR) is one of the frontier research topics in the field of robotics. Extensive research has been conducted on issues related to RFR, including flight control [1,2], path/trajectory planning [3,4], and intelligent navigation [5,6].…”

Section: Introductionmentioning

confidence: 99%

Trajectory Evaluation of Rotor‐Flying Robots Using Accurate Inverse Computation Based on Algorithm Differentiation

Zhou

Han

2014

Mathematical Problems in Engineering

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Autonomous maneuvering flight control of rotor-flying robots (RFR) is a challenging problem due to the highly complicated structure of its model and significant uncertainties regarding many aspects of the field. As a consequence, it is difficult in many cases to decide whether or not a flight maneuver trajectory is feasible. It is necessary to conduct an analysis of the flight maneuvering ability of an RFR prior to test flight. Our aim in this paper is to use a numerical method called algorithm differentiation (AD) to solve this problem. The basic idea is to compute the internal state (i.e., attitude angles and angular rates) and input profiles based on predetermined maneuvering trajectory information denoted by the outputs (i.e., positions and yaw angle) and their higher-order derivatives. For this purpose, we first present a model of the RFR system and show that it is flat. We then cast the procedure for obtaining the required state/input based on the desired outputs as a static optimization problem, which is solved using AD and a derivative based optimization algorithm. Finally, we test our proposed method using a flight maneuver trajectory to verify its performance.

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“…One of the rare works on RM‐based path planning for an unmanned helicopter with online stereo‐based mapping is presented in Andert et al (2011). The stereo‐based mapping system, previously described in Section 5.3.1 (Andert and Adolf, 2009) has been augmented by a real‐time path planning algorithm that is based on a quasi‐random road map (QRM) approach, an A * algorithm for initial path search, and an AD * algorithm for replanning.…”

Section: Guidance Systemsmentioning

confidence: 99%

Highway design software as support of a project‐based learning course

Castro

2012

Comp Applic In Engineering

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Traditionally, practical training of students in highway design has been based on solving geometric problems without using professional highway design software. In a degree of the Technical University of Madrid (UPM), teaching of this subject has been redesigned using a project-based learning approach. Along the course, the students make a complete project of a highway using professional software and procedures. The highway design software chosen includes a simulator that makes a virtual journey along the highway from the point of view of a driver traveling on it. A detailed description of the course program and the software used is provided. ß

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Mapping and path planning in complex environments: An obstacle avoidance approach for an unmanned helicopter

Cited by 18 publications

References 16 publications

Reactive avoidance using embedded stereo vision for MAV flight

Reactive avoidance using embedded stereo vision for MAV flight

Trajectory Evaluation of Rotor‐Flying Robots Using Accurate Inverse Computation Based on Algorithm Differentiation

Highway design software as support of a project‐based learning course

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