Acceleration-Aware Path Planning with Waypoints

  1. Ortner, Rudolf
  2. Kurmi, Indrajit
  3. Bimber, Oliver
  4. González Aguilera, Diego ed. lit. 1
  1. 1 Universidad de Salamanca
    info

    Universidad de Salamanca

    Salamanca, España

    ROR https://ror.org/02f40zc51

Revista:
Drones

ISSN: 2504-446X

Año de publicación: 2021

Volumen: 5

Número: 4

Páginas: 143

Tipo: Artículo

DOI: 10.3390/DRONES5040143 GOOGLE SCHOLAR lock_openAcceso abierto editor

Otras publicaciones en: Drones

Resumen

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

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