Environment representation and path planning for unmanned aircraft in industrial indoor applications

被引：1
|
作者：
Lieret, Markus [1 ]
Kalenberg, Matthias [1 ]
Hofmann, Christian [1 ]
Franke, Joerg [1 ]
机构：
[1] Friedrich Alexander Univ Erlangen Nurnberg FAU, Inst Factory Automat & Prod Syst FAPS, Egerlandstr 7-9, D-91058 Erlangen, Germany
来源：
FAIM 2021 | 2021年 / 55卷
关键词：
environment representation; path planning; indoor navigation; unmanned aircraft;
D O I：
10.1016/j.promfg.2021.10.025
中图分类号：
TP18 [人工智能理论];
学科分类号：
081104 ; 0812 ; 0835 ; 1405 ;
摘要：
After their commercial success in the consumer sector, autonomous unmanned aircraft (UA) have also opened up industrial fields of application. In addition to the already established use of UA for inspection or stocktaking, the suitability of UA for transportation tasks is topic of research and pilot projects. UA are able to operate in the space above the production systems, thus extend the flow of materials by the third dimension and allow a flexible and fast transportation. Due to their three-dimensional movement capabilities, the common path-planning algorithms used for mobile robots cannot be employed but novel approaches are required to achieve a structured routing and an efficient use of the available space. The paper presents an environment model suitable for the application with UA and a multi-layered path planning approach. Thereby, the environment is divided into individual flight levels, which can be enriched with additional information to control the UA's movements. (C) 2021 The Authors. Published by Elsevier Ltd.
引用
收藏
页码：176 / 182
页数：7
相关论文
共 50 条
  • [31] Path Planning of Unmanned Aircraft Inspection for Electric Towers Based on Advanced RRT Algorithm
    Luo L.
    Li D.
    Zhong H.
    Luo, Longfu (llf@hnu.edu.cn), 2018, Hunan University (45): : 80 - 86
  • [32] Collision-free Path Planning in Indoor Environment using a Quadrotor
    Copot, Cosmin
    Hernandez, Andres
    Thi Thoa Mac
    De Keyser, Robin
    2016 21ST INTERNATIONAL CONFERENCE ON METHODS AND MODELS IN AUTOMATION AND ROBOTICS (MMAR), 2016, : 351 - 356
  • [33] Optimal path planning in complex indoor environment based on improved PSO
    Xue, Yinghua
    Liu, Hongpeng
    Journal of Computational Information Systems, 2011, 7 (06): : 2158 - 2165
  • [34] Path Planning in Large-Scale Indoor Environment Using RRT
    Zhao Kaikai
    Li Yangmin
    2013 32ND CHINESE CONTROL CONFERENCE (CCC), 2013, : 5993 - 5998
  • [35] A path planning algorithm for unmanned surface vessel with pose constraints in an unknown environment
    Yu, Jiabin
    Chen, Yang
    Yang, Meng
    Chen, Zhihao
    Xu, Jiping
    Lu, Yang
    Zhao, Zhiyao
    INTERNATIONAL JOURNAL OF NAVAL ARCHITECTURE AND OCEAN ENGINEERING, 2024, 16
  • [36] Path-Planning for Unmanned Aerial Vehicles with Environment Complexity Considerations: A Survey
    Jones, Michael
    Djahel, Soufiene
    Welsh, Kristopher
    ACM COMPUTING SURVEYS, 2023, 55 (11)
  • [37] Path planning algorithm for unmanned surface vehicle formations in a practical maritime environment
    Liu, Yuanchang
    Bucknall, Richard
    OCEAN ENGINEERING, 2015, 97 : 126 - 144
  • [38] Path Planning for Unmanned Fixed-Wing Aircraft in Uncertain Wind Conditions Using Trochoids
    Schopferer, Simon
    Lorenz, Julian Soren
    Keipour, Azarakhsh
    Scherer, Sebastian
    2018 INTERNATIONAL CONFERENCE ON UNMANNED AIRCRAFT SYSTEMS (ICUAS), 2018, : 503 - 512
  • [39] Robotic path planning and simulation by jacobian inverse for industrial applications
    Somasundar, Avantsa V. S. S.
    Yedukondalu, G.
    INTERNATIONAL CONFERENCE ON ROBOTICS AND SMART MANUFACTURING (ROSMA2018), 2018, 133 : 338 - 347
  • [40] Full Automatic Path Planning of Cooperating Robots in Industrial Applications
    Larsen, Lars
    Kaspar, Manuel
    Schuster, Alfons
    Vistein, Michael
    Kim, Jonghwa
    Kupke, Michael
    2017 13TH IEEE CONFERENCE ON AUTOMATION SCIENCE AND ENGINEERING (CASE), 2017, : 523 - 530
12345