This paper presents the current status of the unmanned helicopter project ARTIS and its two flying test beds. The challenges of autonomous flight near the ground in urban environments are addressed by a set of multi-disciplinary approaches that cover fields in adaptive flight control, vision-based compensation of GPS loss, obstacle mapping, motion planning, and onboard decision making. The project reached a maturity stage in operator-supervised autonomous missions. The development infrastructure allows rapid development and testing of new approaches. It includes software- and hardware-in-the-loop simulations using the original avionics including vision. All presented approaches are flight tested under realistic operational conditions. In theory, high level control problems in the presented UAV domain, like path planning or performing waypoint navigation maneuvers, cannot be considered to be solved. Integrated architectural concepts can rarely be observed in flight tests. Showing the multi-disciplinary challenges of bridging theory and practice is the goal in this paper and will be an important future research aspect within ARTIS. All research directions covered in this work allow improvement to achieve the vision of fully autonomous mission scenarios. Future approaches need further adaptivity for the flight guidance systems, flexible mapping, obstacle avoidance, online planning capabilities and a specification of more complex mission goals.
An unmanned helicopter for autonomous flights in urban terrain
2009
11 Seiten, 7 Bilder, 1 Tabelle, 32 Quellen
Conference paper
English
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