A system for 3D autonomous rotorcraft navigation in urban environments

Peter Tsenkov, Jason K. Howlett, Matthew Whalley, Greg Schulein, Marc Takahashi, Matthew H. Rhinehart, Berenice F Mettler May

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

30 Scopus citations

Abstract

Three-dimensional navigation will be an essential component of low-altitude unmanned rotorcraft operations in urban environments. Successful navigation will require that the vehicle sense the surrounding obstacles, incorporate the data into its world model, and react to new obstacles to ensure both vehicle survivability and satisfactory completion of the mission objectives. A complete navigation solution built on heuristic planning concepts is presented. A fast A*-based 3D route planner is compared with one that constructs 3D routes by executing a 2D planner on plane slices of the terrain. Monte Carlo simulation evaluation and flight test validation results are presented.

Original languageEnglish (US)
Title of host publicationAIAA Guidance, Navigation and Control Conference and Exhibit
PublisherAmerican Institute of Aeronautics and Astronautics Inc.
ISBN (Print)9781563479458
DOIs
StatePublished - Jan 1 2008

Publication series

NameAIAA Guidance, Navigation and Control Conference and Exhibit

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    Tsenkov, P., Howlett, J. K., Whalley, M., Schulein, G., Takahashi, M., Rhinehart, M. H., & Mettler May, B. F. (2008). A system for 3D autonomous rotorcraft navigation in urban environments. In AIAA Guidance, Navigation and Control Conference and Exhibit [2008-7412] (AIAA Guidance, Navigation and Control Conference and Exhibit). American Institute of Aeronautics and Astronautics Inc.. https://doi.org/10.2514/6.2008-7412