R. Ortner, Indrajit Kurmi, Oliver Bimber,
"Acceleration-Aware PathPlanning with Waypoints"
, in Drones, Vol. 5(4), Nummer 143, MDPI, Basel, 11-2021, ISSN: 2504-446X
Original Titel:
Acceleration-Aware PathPlanning with Waypoints
Sprache des Titels:
Englisch
Original Kurzfassung:
In this article we demonstrate that acceleration and deceleration of direction-turning drones at waypoints have a significant influence to path planning which is important to be considered for time-critical applications, such as drone-supported search and rescue. We present a new path planning approach that takes acceleration and deceleration into account. It follows a local gradient ascend strategy which locally minimizes turns while maximizing search probability accumulation. Our approach outperforms classic coverage-based path planning algorithms, such as spiral- and grid-search, as well as potential field methods that consider search probability distributions. We apply this method in the context of autonomous search and rescue drones and in combination with a novel synthetic aperture imaging technique, called Airborne Optical Sectioning (AOS), which removes occlusion of vegetation and forest in real-time.
Forschungs-