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Path planning for rapid aerial mapping with unmanned aircraft systems

: Santamaria, E.

Volltext (PDF; )

Ege, Raimund (Ed.) ; International Academy, Research, and Industry Association -IARIA-:
ICONS 2013, Eighth International Conference on Systems. Proceedings : January 31 to February 1, 2013, Seville, Spain
Red Hook, NY: Curran, 2013
ISBN: 978-1-61208-246-2
International Conference on Systems (ICONS) <8, 2013, Seville>
Konferenzbeitrag, Elektronische Publikation
Fraunhofer IOSB ()

One focus of research at Frauhofer IOSB is the utilization of unmanned aerial vehicles for data acquisition. Past efforts have lead to the development of a hardware and software system able to rapidly generate a complete and up-to-date aerial image by combining several single high resolution pictures taken by multiple unmanned aerial vehicles. However, the path planning component of the system was not designed to support no-fly zones inside the area of interest. In this paper, we present a new complete coverage path planning algorithm that provides support for no-fly zones inside the area, and also increases efficiency by reducing the number of turns. The proposed method is suitable for complex areas that may contain known obstacles and no-fly zones, to be covered by maneuverable systems such as multirotor aircraft.