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We present a goal-directed 3D reactive obstacle avoidance algorithm specifically designed for Rotorcraft Unmanned Aerial Vehicles (RUAVs) that fly point-to-point type trajectories. The algorithm detects potential collisions within a cylindrical Safety Volume projected ahead of the UAV. This is done in a 3D occupancy map representation of the environment. An expanding elliptical search is performed...
The article proposes a feedback control system for real-time navigation and obstacle avoidance that is made of two components: (i) a sensor-based, real-time model that generates and periodically updates the path on-line in order to avoid both known and unforeseen obstacles, and (ii) a feedback-control model that is capable of driving a unicycle vehicle along the collision free path. The system has...
Classical motion planners and most of navigation routines discard dynamics of the system and therefore fail in some special conditions. If a robot is moving towards an obstacle with a high acceleration and speed, collision is inevitable because the obstacles are taken into account only either once they are in range, or a physical collision is reported by detection routines. In this paper, we have...
Safety is an important issue of driverless car. Yet, most current approaches fail to ensure safety even in a fully informed situation. In this paper we discuss how the safety criteria apply when the robot uses its on board sensors to evolve in an environment populated with static and moving obstacles. The sensors can only provide a partial and uncertain knowledge of the surroundings. We show that...
The paper describes the software architecture of an autonomous mobile outdoor robot (AMOR). The robot is intended for robust operation in heavy terrain under arbitrary weather condition. The software is implemented in a layered architecture, possessing behaviour based and model based components. The multitude of different sensors is unified by a virtualisation layer, which allows easy reconfiguration...
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