Dynamically sized occupancy grids for obstacle avoidance

Sean Quinn Marlow, Jacob Willem Langelaan

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

3 Citations (Scopus)

Abstract

This paper presents a method for navigation of a small unmanned rotor craft through an unsurveyed environment using a single camera and an inertial measurement unit corrected by GPS. Current missions for small unmanned aerial vehicles involve low altitude flights in complex environments (e.g. urban canyons and forests) in close proximity to obstacles. Successful navigation with no a priori knowledge can be accomplished if obstacle locations can be estimated. The algorithm presented here uses measurements of pixel location and optical flow to compute estimates of obstacle location. These estimates are used to populate a local occupancy grid fixed to the vehicle; however, the grid cells map the time to impact of an obstacle rather than physical distance. This time-based mapping allows high spatial resolution during slow flight (e.g. during approach and landing). The local occupancy grid facilitates the modeling of complex environments and is suitable for use by generic trajectory planners. Results of both two-dimensional and three-dimensional simulations are presented using a potential field method for obstacle avoidance and navigation.

Original languageEnglish (US)
Title of host publicationAIAA Guidance, Navigation, and Control Conference
DOIs
StatePublished - Dec 1 2010
EventAIAA Guidance, Navigation, and Control Conference - Toronto, ON, Canada
Duration: Aug 2 2010Aug 5 2010

Other

OtherAIAA Guidance, Navigation, and Control Conference
CountryCanada
CityToronto, ON
Period8/2/108/5/10

Fingerprint

Collision avoidance
Navigation
Units of measurement
Optical flows
Unmanned aerial vehicles (UAV)
Landing
Global positioning system
Rotors
Pixels
Cameras
Trajectories

All Science Journal Classification (ASJC) codes

  • Aerospace Engineering
  • Control and Systems Engineering

Cite this

Marlow, S. Q., & Langelaan, J. W. (2010). Dynamically sized occupancy grids for obstacle avoidance. In AIAA Guidance, Navigation, and Control Conference [AIAA 2010-7848] https://doi.org/10.2514/6.2010-7848
Marlow, Sean Quinn ; Langelaan, Jacob Willem. / Dynamically sized occupancy grids for obstacle avoidance. AIAA Guidance, Navigation, and Control Conference. 2010.
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Marlow, SQ & Langelaan, JW 2010, Dynamically sized occupancy grids for obstacle avoidance. in AIAA Guidance, Navigation, and Control Conference., AIAA 2010-7848, AIAA Guidance, Navigation, and Control Conference, Toronto, ON, Canada, 8/2/10. https://doi.org/10.2514/6.2010-7848

Dynamically sized occupancy grids for obstacle avoidance. / Marlow, Sean Quinn; Langelaan, Jacob Willem.

AIAA Guidance, Navigation, and Control Conference. 2010. AIAA 2010-7848.

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

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Marlow SQ, Langelaan JW. Dynamically sized occupancy grids for obstacle avoidance. In AIAA Guidance, Navigation, and Control Conference. 2010. AIAA 2010-7848 https://doi.org/10.2514/6.2010-7848