TY - GEN
T1 - UAV- Navigation Using Map Slicing and Safe Path Computation
AU - Unlu, Halil Utku
AU - Chaikalis, Dimitris
AU - Tsoukalas, Athanasios
AU - Tzes, Anthony
N1 - Publisher Copyright:
© 2023 IEEE.
PY - 2023
Y1 - 2023
N2 - This paper is concerned with the safe path planning of a drone while exploring an unknown space. The drone is localized by fusing measurements from sensors including an IMU, RGB-D sensor, and an optical flow system, while executing an RTAB-Map SLAM algorithm. The 3D-occupancy Octomap is generated online and a slicing algorithm is employed to compute 2D-maps. The maps' traversible coordinates are identified and used as potential points for the drone intermediate navigation to the destination. The final segment corresponds to a shortest Chebyshev-length path between all frontier pixels and the endpoint over the unexplored map region. The drone's path is computed using a skeletal path between the identified map boundaries so that the drone moves from its current location through the free map coordinates to the destination point. Simulation studies using within the interior of an apartment indicate the efficiency and effectiveness of the proposed method.
AB - This paper is concerned with the safe path planning of a drone while exploring an unknown space. The drone is localized by fusing measurements from sensors including an IMU, RGB-D sensor, and an optical flow system, while executing an RTAB-Map SLAM algorithm. The 3D-occupancy Octomap is generated online and a slicing algorithm is employed to compute 2D-maps. The maps' traversible coordinates are identified and used as potential points for the drone intermediate navigation to the destination. The final segment corresponds to a shortest Chebyshev-length path between all frontier pixels and the endpoint over the unexplored map region. The drone's path is computed using a skeletal path between the identified map boundaries so that the drone moves from its current location through the free map coordinates to the destination point. Simulation studies using within the interior of an apartment indicate the efficiency and effectiveness of the proposed method.
KW - indoor exploration
KW - navigation
KW - path planning
KW - search and rescue
KW - simultaneous localization and mapping
UR - http://www.scopus.com/inward/record.url?scp=85161319152&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85161319152&partnerID=8YFLogxK
U2 - 10.1109/ICARA56516.2023.10125893
DO - 10.1109/ICARA56516.2023.10125893
M3 - Conference contribution
AN - SCOPUS:85161319152
T3 - 2023 9th International Conference on Automation, Robotics and Applications, ICARA 2023
SP - 208
EP - 212
BT - 2023 9th International Conference on Automation, Robotics and Applications, ICARA 2023
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 9th International Conference on Automation, Robotics and Applications, ICARA 2023
Y2 - 10 February 2023 through 12 February 2023
ER -