NDLI: Vision-based geometry estimation and receding horizon path planning for UAVs operating in urban environments

Content Provider	IEEE Xplore Digital Library
Author	Prazenica, R. Kurdila, A. Sharpley, R. Evers, J.
Copyright Year	2006
Description	Author affiliation: Res. in Eng. Educ. Facility, Florida Univ., Shalimar, FL (Prazenica, R.)
Abstract	This paper presents a receding horizon control strategy to enable small unmanned air vehicles to fly autonomously through complex urban environments. An adaptive, multiresolution-based learning algorithm is employed to estimate the 3D geometry of the environment. This learning algorithm generates an adaptive approximation based on measurements of the 3D positions of static points in the environment, obtained via feature point tracking and structure from motion. A receding horizon path planning strategy is used to select a series of locally-optimal path points in front of the vehicle. These path points are selected in such a manner that the vehicle approaches an overall target point while avoiding static obstacles that may lie in its path. These obstacles are estimated via the adaptive learning algorithm, which provides constraints for the path planner. A standard waypoint controller is then used to fly the vehicle through the selected path points. This vision-based control strategy is demonstrated in simulations of a small UAV flying through a virtual urban environment
Sponsorship	American Automatic Control Council IFAC
File Size	1139784
File Format	PDF
ISBN	1424402093
e-ISBN	1424402107
DOI	10.1109/ACC.2006.1657155
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2006-06-14
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	American Automatic Control Council(AACC)
Subject Keyword	Geometry Path planning Unmanned aerial vehicles Remotely operated vehicles Trajectory Mobile robots Optimal control Target tracking Aerospace control Strategic planning
Content Type	Text
Resource Type	Article

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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