Safe autonomous flight is essential for widespread acceptance of aircraft that must fly close to the ground. We have developed a method of collision avoidance that can be used in three dimensions in much the same way as autonomous ground vehicles that navigate over unexplored terrain. Safe navigation is accomplished by a combination of online environmental sensing, path planning and collision avoidance. Here we report results with an autonomous helicopter that operates at low elevations in uncharted environments some of which are densely populated with obstacles such as buildings, trees and wires. We have recently completed over 1000 successful runs in which the helicopter traveled between coarsely specified waypoints separated by hundreds of meters, at speeds up to 10 meters/sec at elevations of 5-10 meters above ground level. The helicopter safely avoids large objects like buildings and trees but also wires as thin as 6 mm. We believe this represents the first time an air vehicle has traveled this fast so close to obstacles. Here we focus on the collision avoidance method that learns to avoid obstacles by observing the performance of a human operator.


    Zugriff

    Zugriff über TIB

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    Flying fast and low among obstacles


    Beteiligte:
    Scherer, S. (Autor:in) / Singh, S. (Autor:in) / Chamberlain, L. (Autor:in) / Saripalli, S. (Autor:in)


    Erscheinungsdatum :

    2007


    Format / Umfang :

    7 Seiten, 16 Quellen



    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Print


    Sprache :

    Englisch




    Flying fast, flying quiet

    Keith Button | Online Contents | 2017


    Flying between obstacles with an autonomous knife-edge maneuver

    Barry, Andrew J. / Jenks, Tim / Majumdar, Anirudha et al. | IEEE | 2014


    Influence of Temperature on the Ability of Flying Over Obstacles

    Wenlong, Zhu / Haozhi, Wang | Springer Verlag | 2023


    Aerodynamic Effects in Multirotors Flying Close to Obstacles: Modelling and Mapping

    Sanchez-Cuevas, P. J. / Martín, Victor / Heredia, Guillermo et al. | Springer Verlag | 2019


    Aerodynamic Effects in Multirotors Flying Close to Obstacles: Modelling and Mapping

    Sanchez-Cuevas, P. J. / Martín, Victor / Heredia, Guillermo et al. | TIBKAT | 2020