Article (Scientific journals)
A Real-Time 3D Path Planning Solution for Collision-Free Navigation of Multirotor Aerial Robots in Dynamic Environments
Sanchez Lopez, Jose Luis; Wang, Min; Olivares Mendez, Miguel Angel et al.
2019In Journal of Intelligent and Robotic Systems, 93 (1-2), p. 33-53
Peer Reviewed verified by ORBi
 

Files


Full Text
sanchez-lopez2018.pdf
Author postprint (4.45 MB)
Download

All documents in ORBilu are protected by a user license.

Send to



Details



Keywords :
Path Planning; Obstacle Avoidance; Dynamic Environments; Aerial Robotics; Multirotor; UAV; MAV; Remotely operated vehicles; Mobile robots
Abstract :
[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.
Disciplines :
Computer science
Author, co-author :
Sanchez Lopez, Jose Luis  ;  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)
External co-authors :
yes
Language :
English
Title :
A Real-Time 3D Path Planning Solution for Collision-Free Navigation of Multirotor Aerial Robots in Dynamic Environments
Publication date :
February 2019
Journal title :
Journal of Intelligent and Robotic Systems
ISSN :
1573-0409
Publisher :
Kluwer Academic Publishers, Dordrecht, Netherlands
Volume :
93
Issue :
1-2
Pages :
33-53
Peer reviewed :
Peer Reviewed verified by ORBi
FnR Project :
FNR10484117 - Robust Emergency Sense-and-avoid Capability For Small Remotely Piloted Aerial Systems, 2015 (01/02/2016-31/01/2019) - Holger Voos
Available on ORBilu :
since 11 January 2019

Statistics


Number of views
327 (18 by Unilu)
Number of downloads
1993 (40 by Unilu)

Scopus citations®
 
64
Scopus citations®
without self-citations
59
OpenCitations
 
51
WoS citations
 
49

Bibliography


Similar publications



Contact ORBilu