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 ![]() | |
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)] | |
Feb-2019 | |
Journal of Intelligent and Robotic Systems | |
Kluwer Academic Publishers | |
93 | |
1-2 | |
33-53 | |
Yes (verified by ORBilu) | |
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://link.springer.com/article/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 |
File(s) associated to this reference | ||||||||||||||
Fulltext file(s):
| ||||||||||||||
All documents in ORBilu are protected by a user license.