A quasi-polar local occupancy grid approach for vision-based obstacle avoidance

Junyi Geng, Jack W. Langelaan

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

This paper proposes a quasi-polar local (turn rate-time) occupancy grid approach for obstacle avoidance. It uses GPS and inertial navigation combined with a vision system to map sensor data directly onto dynamically feasible paths, so that path planning consists simply of selecting the path with lowest likelihood of collision. A numerical method for motion updates that can cope with the differing sizes and shapes of each cell in the occupancy grid is proposed, and a probability-based inverse sensor model that maps range and bearing-based sensor data to this path-based occupancy grid is developed. Three exteroceptive sensor models (wide-field monocular vision, pushbroom stereo, and pushbroom stereo combined with wide field monocular) are presented in this context. Simulations of flight through a two dimensional environment consisting of both forest and urban terrain are used to demonstrate the utility of this approach.

Original languageEnglish (US)
Title of host publicationAIAA Guidance, Navigation, and Control Conference, 2017
PublisherAmerican Institute of Aeronautics and Astronautics Inc, AIAA
ISBN (Print)9781624104503
StatePublished - Jan 1 2017
EventAIAA Guidance, Navigation, and Control Conference, 2017 - Grapevine, United States
Duration: Jan 9 2017Jan 13 2017

Publication series

NameAIAA Guidance, Navigation, and Control Conference, 2017

Other

OtherAIAA Guidance, Navigation, and Control Conference, 2017
CountryUnited States
CityGrapevine
Period1/9/171/13/17

All Science Journal Classification (ASJC) codes

  • Aerospace Engineering
  • Control and Systems Engineering
  • Electrical and Electronic Engineering

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