ICRA 2011 Paper Abstract


Paper TuA201.1

Andert, Franz (German Aerospace Center (DLR)), Adolf, Florian (German Aerospace Center (DLR)), Goormann, Lukas (German Aerospace Center), Dittrich, Joerg (German Aerospace Center (DLR))

Mapping and Path Planning in Complex Environments: An Obstacle Avoidance Approach for an Unmanned Helicopter

Scheduled for presentation during the Regular Sessions "Aerial Robotics II" (TuA201), Tuesday, May 10, 2011, 10:05−10:20, Room 3B

2011 IEEE International Conference on Robotics and Automation, May 9-13, 2011, Shanghai International Conference Center, Shanghai, China

This information is tentative and subject to change. Compiled on April 2, 2020

Keywords Aerial Robotics, Collision Avoidance, Autonomous Navigation


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.



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