Reference : A Real-Time 3D Path Planning Solution for Collision-Free Navigation of Multirotor Aer...

	Document type :	Scientific journals : Article
	Discipline(s) :	Engineering, computing & technology : Computer science
	To cite this reference:	http://hdl.handle.net/10993/38232

Title :	A Real-Time 3D Path Planning Solution for Collision-Free Navigation of Multirotor Aerial Robots in Dynamic Environments
Language :	English
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)]
Publication date :	Feb-2019
Journal title :	Journal of Intelligent and Robotic Systems
Publisher :	Kluwer Academic Publishers
Volume :	93
Issue/season :	1-2
Pages :	33-53
Peer reviewed :	Yes (verified by ORBilu)
Audience :	International
ISSN :	0921-0296
e-ISSN :	1573-0409
City :	Dordrecht
Country :	Netherlands
Keywords :	[en] 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.
Target :	Researchers ; Professionals
Permalink :	http://hdl.handle.net/10993/38232
DOI :	10.1007/s10846-018-0809-5
Other URL :	https://link.springer.com/article/10.1007/s10846-018-0809-5
FnR project :	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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