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Protected Online Path Planning for UAVs over Congested Areas Within Convex Regions of Obstacle-Free Space
We present an approach for protected contingency online planning in high-risk environments with strict regulatory boundary conditions. For this purpose, we integrate a deterministic online planning method into a UAM path planning framework, which operates within precomputed convex regions of obstacl...
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Main Authors: | , , |
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Format: | Conference Proceeding |
Language: | English |
Subjects: | |
Online Access: | Request full text |
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Summary: | We present an approach for protected contingency online planning in high-risk environments with strict regulatory boundary conditions. For this purpose, we integrate a deterministic online planning method into a UAM path planning framework, which operates within precomputed convex regions of obstacle-free space. As part of an offline planning phase, a database of trajectories and convex, obstacle-free regions along these trajectories are computed. During the online phase, transitions between any two preplanned trajectories inside the same region can be computed using a planning method with performance-guaranteed maneuvres. Within a given envelope of environmental disturbances, our method guarantees to contain the flight path inside its convex region, while ensuring deterministic attributes. We demonstrate the method in a scenario representing the intended application and give estimations for offline computation time on desktop-grade hardware. |
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ISSN: | 2155-7209 |
DOI: | 10.1109/DASC52595.2021.9594420 |