Endre søk
RefereraExporteraLink to record
Permanent link

Direct link
Referera
Referensformat
  • apa
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Annet format
Fler format
Språk
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Annet språk
Fler språk
Utmatningsformat
  • html
  • text
  • asciidoc
  • rtf
A Framework for Safe Navigation of Unmanned Aerial Vehicles in Unknown Environments
Linköpings universitet, Institutionen för datavetenskap, Artificiell intelligens och integrerade datorsystem. Linköpings universitet, Tekniska fakulteten.
Linköpings universitet, Institutionen för datavetenskap, Artificiell intelligens och integrerade datorsystem. Linköpings universitet, Tekniska fakulteten.ORCID-id: 0000-0003-3011-1505
Linköpings universitet, Institutionen för datavetenskap, Artificiell intelligens och integrerade datorsystem. Linköpings universitet, Tekniska fakulteten.
2017 (engelsk)Inngår i: 2017 25TH INTERNATIONAL CONFERENCE ON SYSTEMS ENGINEERING (ICSENG), IEEE , 2017, s. 11-20Konferansepaper, Publicerat paper (Fagfellevurdert)
Abstract [en]

This paper presents a software framework which combines reactive collision avoidance control approach with path planning techniques for the purpose of safe navigation of multiple Unmanned Aerial Vehicles (UAVs) operating in unknown environments. The system proposed leverages advantages of using a fast local sense-and-react type control which guarantees real-time execution with computationally demanding path planning algorithms which generate globally optimal plans. A number of probabilistic path planning algorithms based on Probabilistic Roadmaps and Rapidly-Exploring Random Trees have been integrated. Additionally, the system uses a reactive controller based on Optimal Reciprocal Collision Avoidance (ORCA) for path execution and fast sense-and-avoid behavior. During the mission execution a 3D map representation of the environment is build incrementally and used for path planning. A prototype implementation on a small scale quad-rotor platform has been developed. The UAV used in the experiments was equipped with a structured-light depth sensor to obtain information about the environment in form of occupancy grid map. The system has been tested in a number of simulated missions as well as in real flights and the results of the evaluations are presented.

sted, utgiver, år, opplag, sider
IEEE , 2017. s. 11-20
HSV kategori
Identifikatorer
URN: urn:nbn:se:liu:diva-145815DOI: 10.1109/ICSEng.2017.58ISI: 000426505200002ISBN: 978-1-5386-0610-0 (tryckt)OAI: oai:DiVA.org:liu-145815DiVA, id: diva2:1192173
Konferanse
25th International Conference on Systems Engineering (ICSEng)
Merknad

Funding Agencies|Swedish Research Council (VR) Linnaeus Center CADICS; ELLIIT network organization for Information and Communication Technology; Swedish Foundation for Strategic Research [RIT 15-0097]

Tilgjengelig fra: 2018-03-21 Laget: 2018-03-21 Sist oppdatert: 2018-03-21

Open Access i DiVA

Fulltekst mangler i DiVA

Andre lenker

Forlagets fulltekst

Søk i DiVA

Av forfatter/redaktør
Wzorek, MariuszBerger, CyrilleDoherty, Patrick
Av organisasjonen

Søk utenfor DiVA

GoogleGoogle Scholar

doi
isbn
urn-nbn

Altmetric

doi
isbn
urn-nbn
Totalt: 111 treff
RefereraExporteraLink to record
Permanent link

Direct link
Referera
Referensformat
  • apa
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Annet format
Fler format
Språk
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Annet språk
Fler språk
Utmatningsformat
  • html
  • text
  • asciidoc
  • rtf