Memorias de investigación
Ponencias en congresos:
Laser-based Collision Avoidance and Reactive Navigation using RRT* and Signed Distance Field for Multirotor UAVs
Año:2019
Áreas de investigación
  • Ingeniería eléctrica, electrónica y automática,
  • Aprendizaje en robótica
Datos
Descripción
Collision avoidance plays a crucial role for autonomous navigation in unknown dynamic environments and still remains an ongoing research problem. In this paper, we present a new collision avoidance algorithm by combining an RRT* path planner with a Signed Distance Field (SDF) based collision checking algorithm, in which the trajectory is optimized by a short cut and Optimal Polynomial Trajectory algorithms. The proposed algorithm is integrated to work in combination with a Model Predictive Control (MPC) based trajectory controller in order to provide a complete system for reactive navigation purposes. A thorough evaluation of the proposed algorithm has been conducted in several simulating scenarios using RotorS Gazebo simulator, showing fast collision checking capabilities in the presence of static and dynamic obstacles. The results show that the proposed algorithm outperforms in 76.93% considering the processing time when tested in a 1000 × 1000 pixels map. The results also demonstrate that the proposed navigation algorithm allows the safe navigation of a multirotor Unmanned Aerial Vehicle (UAV).
Internacional
Si
Nombre congreso
2019 INTERNATIONAL CONFERENCE ON UNMANNED AIRCRAFT SYSTEMS (ICUAS' 19)
Tipo de participación
960
Lugar del congreso
Atlanta, GA, USA
Revisores
Si
ISBN o ISSN
2575-7296
DOI
10.1109/ICUAS.2019.8798124
Fecha inicio congreso
11/06/2019
Fecha fin congreso
14/06/2019
Desde la página
1209
Hasta la página
1217
Título de las actas
Laser-based Collision Avoidance and Reactive Navigation using RRT* and Signed Distance Field for Multirotor UAVs
Esta actividad pertenece a memorias de investigación
Participantes
Grupos de investigación, Departamentos, Centros e Institutos de I+D+i relacionados
  • Creador: Grupo de Investigación: Visión por Computador y Robótica Aérea
  • Centro o Instituto I+D+i: Centro de Automática y Robótica (CAR). Centro Mixto UPM-CSIC
  • Departamento: Automática, Ingeniería Eléctrica y Electrónica e Informática Industrial