Probabilistic Roadmap Based Path Planning for an Autonomous Unmanned Helicopter
Pettersson, Per Olof Doherty, Patrick
2005 (English)In: Proceedings of the 3rd joint SAIS-SSLS event on Artificial Intelligence and Learning Systems (SAIS-SSLS) / [ed] Peter Funk, Thorsteinn Rögnvaldsson and Ning Xiong, Mälardalen University, 2005Conference paper (Refereed)
The emerging area of intelligent unmanned aerialvehicle (UAV) research has shown rapid development in recentyears and offers a great number of research challenges for artificialintelligence. For both military and civil applications, thereis a desire to develop more sophisticated UAV platforms wherethe emphasis is placed on development of intelligent capabilities.Imagine a mission scenario where a UAV is supplied with a 3Dmodel of a region containing buildings and road structures andis instructed to fly to an arbitrary number of building structuresand collect video streams of each of the building’s respectivefacades. In this article, we describe a fully operational UAVplatform which can achieve such missions autonomously. Wefocus on the path planner integrated with the platform which cangenerate collision free paths autonomously during such missions.It is based on the use of probabilistic roadmaps. The path plannerhas been tested together with the UAV platform in an urbanenvironment used for UAV experimentation.
National CategoryComputer Science
IdentifiersURN: urn:nbn:se:liu:diva-31500Local ID: 17295OAI: oai:DiVA.org:liu-31500DiVA: diva2:252323