Memorias de investigación
Artículos en revistas:
A Real-Time 3D Path Planning Solution for Collision-Free Navigation of Multirotor Aerial Robots in Dynamic Environments
Año:2019
Áreas de investigación
  • Ingenierías
Datos
Descripción
Deliberative capabilities are essential for intelligent aerial robotic applications in modern life such as package delivery and surveillance. This paper presents a real-time 3D path planning solution for multirotor aerial robots to obtain a feasible, optimal and collision-free path in complex dynamic environments. High-level geometric primitives are employed to compactly represent the situation, which includes self-situation of the robot and situation of the obstacles in the environment. A probabilistic graph is utilized to sample the admissible space without taking into account the existing obstacles. Whenever a planning query is received, the generated probabilistic graph is then explored by an A? discrete search algorithm with an artificial field map as cost function in order to obtain a raw optimal collision-free path, which is subsequently shortened. Realistic simulations in V-REP simulator have been created to validate the proposed path planning solution, integrating it into a fully autonomous multirotor aerial robotic system.
Internacional
Si
JCR del ISI
Si
Título de la revista
Journal of Intelligent & Robotic Systems
ISSN
0921-0296
Factor de impacto JCR
2,259
Información de impacto
Volumen
93
DOI
10.1007/s10846-018-0809-5
Número de revista
Desde la página
33
Hasta la página
53
Mes
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Participantes
  • Autor: José Luis Sánchez-López
  • Autor: Min Wang
  • Autor: Miguel A. Olivares-Mendez
  • Autor: Martín Molina
  • Autor: Holger Voos
  • Autor: Claudio Rossi UPM
Grupos de investigación, Departamentos, Centros e Institutos de I+D+i relacionados
  • Creador: 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