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A Framework for Safe Navigation of Unmanned Aerial Vehicles in Unknown Environments
Linköping University, Department of Computer and Information Science, Artificial Intelligence and Integrated Computer Systems. Linköping University, Faculty of Science & Engineering.ORCID iD: 0000-0003-2147-2114
Linköping University, Department of Computer and Information Science, Artificial Intelligence and Integrated Computer Systems. Linköping University, Faculty of Science & Engineering.ORCID iD: 0000-0003-3011-1505
Linköping University, Department of Computer and Information Science, Artificial Intelligence and Integrated Computer Systems. Linköping University, Faculty of Science & Engineering.
2017 (English)In: 25th International Conference on Systems Engineering, 2017Conference paper, Published paper (Refereed)
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. 

Place, publisher, year, edition, pages
2017.
Keyword [en]
UAV navigation, path planning, robotics
National Category
Computer Vision and Robotics (Autonomous Systems)
Identifiers
URN: urn:nbn:se:liu:diva-140869ISBN: 978-1-5386-0609-4 (print)OAI: oai:DiVA.org:liu-140869DiVA: diva2:1141003
Conference
25th International Conference on Systems Engineering, Las Vegas, USA, August 22-24, 2017
Projects
Swedish Foundation for Strategic Research (Smart Systems: RIT 15-0097)ELLIIT network organisation for Information and Communication TechnologySwedish Research Council (VR) Linnaeus Center CADICS
Funder
Swedish Foundation for Strategic Research , RIT 15-0097ELLIIT - The Linköping‐Lund Initiative on IT and Mobile CommunicationsLinnaeus research environment CADICS
Note

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]

Available from: 2017-09-13 Created: 2017-09-13 Last updated: 2017-09-21Bibliographically approved

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Wzorek, MariuszBerger, CyrilleDoherty, Patrick

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