This paper presents a route planner for Robotic Air Vehicles navigate by imaging sensors. While maneuvering in a large 3D space, depends on the ground sampling and estimation which is varying from time to time, the vehicle's exact location is constantly fuzzy and can only be estimated within a certain range. We will describe a real-time flight path planning and motion simulation system that navigates Robotic Air Vehicles in a three dimensional real world coping with the instantaneous change of uncertainty of its current location. We can show that the complete maneuvering is collision-free. By modeling the safe passing channels based on the spatial graph, known as the Voronoi Graph, which can be computed before the flight mission we reduce the real time cost to the minimum.
Flight path planning under uncertainty for robotic air vehicles
Planung der Flugbahn von Roboter-Flugzeugen bei Vorhandensein von Unsicherheiten
1987
8 Seiten, 11 Bilder, 18 Quellen
Aufsatz (Konferenz)
Englisch
SENSOR-CENTRIC PATH PLANNING AND CONTROL FOR ROBOTIC VEHICLES
Europäisches Patentamt | 2019
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Europäisches Patentamt | 2019
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