NDLI: Mapping and path planning in complex environments: An obstacle avoidance approach for an unmanned helicopter

Content Provider	IEEE Xplore Digital Library
Author	Andert, F. Adolf, F. Goormann, L. Dittrich, J.
Copyright Year	2011
Description	Author affiliation: German Aerospace Center (DLR), Institute of Flight Systems, 38108 Braunschweig, Germany (Andert, F.; Adolf, F.; Goormann, L.; Dittrich, J.)
Abstract	This paper presents an obstacle avoidance method that is performed with an unmanned helicopter. The approach begins with a mapping step where information from sensor data about previously unknown dangers is extracted into an occupancy grid and eventually converted into a polygonal 3D world model. This continuously updating map is used by a path planner that generates and updates a 3D trajectory guiding the vehicle through safe passages around the detected objects. The algorithms are generic but optimized for unmanned aircraft and a stereo camera as the environmental sensor. Computation is fully executed on board so that a ground control station is only needed for supervision. With successful obstacle detection and avoidance flight tests, the paper shows the qualification of the presented method under real operational conditions.
Starting Page	745
Ending Page	750
File Size	526558
Page Count	6
File Format	PDF
ISBN	9781612843865
ISSN	10504729
e-ISBN	9781612843858
DOI	10.1109/ICRA.2011.5979535
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2011-05-09
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Vehicles Shape Helicopters Path planning Robot sensing systems Roads Collision avoidance
Content Type	Text
Resource Type	Article
Subject	Artificial Intelligence Control and Systems Engineering Electrical and Electronic Engineering Software

Sl.	Authority	Responsibilities	Communication Details
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
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

Obstacle count independent real-time collision avoidance

Flying Fast and Low Among Obstacles

Constraint-based multi-robot path planning

Execution and analysis of high-level tasks with dynamic obstacle anticipation

First results in autonomous landing and obstacle avoidance by a full-scale helicopter

Omnidirectional vision for an autonomous helicopter

Egress: An online path planning algorithm for boundary exploration

Humanoid robot navigation and obstacle avoidance in unknown environments

Real-time velocity feedback obstacle avoidance via complex variables and conformal mapping

Mapping and path planning in complex environments: An obstacle avoidance approach for an unmanned helicopter

Similar Documents

Obstacle count independent real-time collision avoidance

Flying Fast and Low Among Obstacles

Constraint-based multi-robot path planning

Execution and analysis of high-level tasks with dynamic obstacle anticipation

First results in autonomous landing and obstacle avoidance by a full-scale helicopter

Omnidirectional vision for an autonomous helicopter

Egress: An online path planning algorithm for boundary exploration

Humanoid robot navigation and obstacle avoidance in unknown environments

Real-time velocity feedback obstacle avoidance via complex variables and conformal mapping

Mapping and path planning in complex environments: An obstacle avoidance approach for an unmanned helicopter