Reference : A Real-Time 3D Path Planning Solution for Collision-Free Navigation of Multirotor Aer...
Scientific journals : Article
Engineering, computing & technology : Computer science
http://hdl.handle.net/10993/38232
A Real-Time 3D Path Planning Solution for Collision-Free Navigation of Multirotor Aerial Robots in Dynamic Environments
English
Sanchez Lopez, Jose Luis mailto [University of Luxembourg > Interdisciplinary Centre for Security, Reliability and Trust (SNT) > >]
Wang, Min [University of Luxembourg > Interdisciplinary Centre for Security, Reliability and Trust (SNT) > >]
Olivares Mendez, Miguel Angel [University of Luxembourg > Interdisciplinary Centre for Security, Reliability and Trust (SNT) > >]
Molina, Martin [Technical University of Madrid (UPM) > Department of Artifcial Intelligence]
Voos, Holger [University of Luxembourg > Faculty of Science, Technology and Communication (FSTC) > Engineering Research Unit > ; University of Luxembourg > Interdisciplinary Centre for Security, Reliability and Trust (SNT)]
7-Apr-2018
Journal of Intelligent and Robotic Systems
Kluwer Academic Publishers
Yes
International
0921-0296
1573-0409
Dordrecht
Netherlands
[en] Path Planning ; Obstacle Avoidance ; Dynamic Environments ; Aerial Robotics ; Multirotor ; UAV ; MAV ; Remotely operated vehicles ; Mobile robots
[en] Deliberative capabilities are essential for intelligent aerial robotic applications in modern life such as package delivery and surveillance.
This paper presents a real-time 3D path planning solution for multirotor aerial robots to obtain a feasible, optimal and collision-free path in complex dynamic environments. High-level geometric primitives are employed to compactly represent the situation, which includes self-situation of the robot and situation of the obstacles in the environment. A probabilistic graph is utilized to sample the admissible space without taking into account the existing obstacles.
Whenever a planning query is received, the generated probabilistic graph is then explored by an A$^{\star}$ discrete search algorithm with an artificial field map as cost function in order to obtain a raw optimal collision-free path, which is subsequently shortened.
Realistic simulations in V-REP simulator have been created to validate the proposed path planning solution, integrating it into a fully autonomous multirotor aerial robotic system.
Researchers ; Professionals
http://hdl.handle.net/10993/38232
10.1007/s10846-018-0809-5
https://doi.org/10.1007/s10846-018-0809-5
FnR ; FNR10484117 > Holger Voos > BEST-RPAS > Robust Emergency Sense-and-Avoid Capability for Small Remotely Piloted Aerial Systems > 01/02/2016 > 31/01/2019 > 2015

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