LiU Electronic Press
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Author:
Wzorek, Mariusz (Linköping University, The Institute of Technology) (Linköping University, Department of Computer and Information Science, KPLAB - Knowledge Processing Lab)
Doherty, Patrick (Linköping University, The Institute of Technology) (Linköping University, Department of Computer and Information Science, KPLAB - Knowledge Processing Lab)
Title:
Reconfigurable Path Planning for an Autonomous Unmanned Aerial Vehicle
Department:
Linköping University, Department of Computer and Information Science, KPLAB - Knowledge Processing Lab
Linköping University, The Institute of Technology
Publication type:
Conference paper (Refereed)
Language:
English
In:
Proceedings of the Sixteenth International Conference on Automated Planning and Scheduling (ICAPS)
Editor:
Derek Long, Stephen F. Smith, Daniel Borrajo, Lee McCluskey
Publisher: AAAI Press
Pages:
438-441
Year of publ.:
2006
URI:
urn:nbn:se:liu:diva-36789
Permanent link:
http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-36789
ISBN:
978-1-57735-270-9
Local ID:
32589
Subject category:
Computer Science
SVEP category:
Computer science
Abstract(en) :

In this paper, we present a motion planning framework for a fully deployed autonomous unmanned aerial vehicle which integrates two sample-based motion planning techniques, Probabilistic Roadmaps and Rapidly Exploring Random Trees. Additionally, we incorporate dynamic reconfigurability into the framework by integrating the motion planners with the control kernel of the UAV in a novel manner with little modification to the original algorithms. The framework has been verified through simulation and in actual flight. Empirical results show that these techniques used with such a framework offer a surprisingly efficient method for dynamically reconfiguring a motion plan based on unforeseen contingencies which may arise during the execution of a plan. The framework is generic and can be used for additional platforms.

Available from:
2009-10-10
Created:
2009-10-10
Last updated:
2012-01-19
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