DocumentCode :
164183
Title :
Obstacle detection and navigation planning for autonomous micro aerial vehicles
Author :
Nieuwenhuisen, Matthias ; Droeschel, David ; Beul, Marius ; Behnke, Sven
Author_Institution :
Autonomous Intell. Syst. Group, Univ. of Bonn, Bonn, Germany
fYear :
2014
fDate :
27-30 May 2014
Firstpage :
1040
Lastpage :
1047
Abstract :
Obstacle detection and real-time planning of collision-free trajectories are key for the fully autonomous operation of micro aerial vehicles in restricted environments. In this paper, we propose a complete system with a multimodal sensor setup for omnidirectional obstacle perception consisting of a 3D laser scanner, two stereo camera pairs, and ultrasonic distance sensors. Detected obstacles are aggregated in egocentric local multiresolution grid maps. We generate trajectories in a multi-layered approach: from mission planning to global and local trajectory planning, to reactive obstacle avoidance. We evaluate our approach in simulation and with the real autonomous micro aerial vehicle.
Keywords :
autonomous aerial vehicles; collision avoidance; navigation; optical scanners; planning (artificial intelligence); sensors; stereo image processing; 3D laser scanner; autonomous micro aerial vehicles; collision-free trajectories; egocentric local multiresolution grid maps; fully autonomous operation; global trajectory planning; local trajectory planning; mission planning; multimodal sensor setup; navigation planning; obstacle detection; omnidirectional obstacle perception; real autonomous micro aerial vehicle; real-time planning; stereo camera pairs; ultrasonic distance sensors; Cameras; Collision avoidance; Measurement by laser beam; Navigation; Planning; Robot sensing systems; Three-dimensional displays;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Unmanned Aircraft Systems (ICUAS), 2014 International Conference on
Conference_Location :
Orlando, FL
Type :
conf
DOI :
10.1109/ICUAS.2014.6842355
Filename :
6842355
Link To Document :
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