A Global Path Planning Strategy for a UGV from Aerial Elevation Maps for Disaster Response

Guastella, Dario Calogero; Cantelli, Luciano; Melita, Carmelo Donato; Muscato, Giovanni

doi:10.5220/0006298303350342

Cited by 13 publications

(10 citation statements)

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“…Eight types of VAs are proposed, which are grouped as Regional and Directional. The Regional VAs provide information on robot surrounding environment, while Directional VAs provide route following information (in our case this is based on traversing-cost path-planning [50]). with the proposed use of VR headset, which thanks to head-tracking adapts visualized images to user's head position.…”

Section: Regional and Directional Visual Aidsmentioning

confidence: 99%

Intuitive Robot Teleoperation Through Multi-Sensor Informed Mixed Reality Visual Aids

et al. 2021

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The work carried out by the University of Catania is in the framework of the project "Safe and Smart Farming with Artificial Intelligence and Robotics-programma ricerca di ateneo UNICT 2020-22 linea 2" ABSTRACT Mobile robotic systems have evolved to include sensors capable of truthfully describing robot status and operating environment as accurately and reliably as never before. This possibility is challenged by effective sensor data exploitation, because of the cognitive load an operator is exposed to, due to the large amount of data and time-dependency constraints. This paper addresses this challenge in remote-vehicle teleoperation by proposing an intuitive way to present sensor data to users by means of using mixed reality and visual aids within the user interface. We propose a method for organizing information presentation and a set of visual aids to facilitate visual communication of data in teleoperation control panels. The resulting sensor-information presentation appears coherent and intuitive, making it easier for an operator to catch and comprehend information meaning. This increases situational awareness and speeds up decision-making. Our method is implemented on a real mobile robotic system operating outdoor equipped with on-board internal and external sensors, GPS, and a reconstructed 3D graphical model provided by an assistant drone. Experimentation verified feasibility while intuitive and comprehensive visual communication was confirmed through an assessment, which encourages further developments.

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Section: Regional and Directional Visual Aidsmentioning

confidence: 99%

Intuitive Robot Teleoperation Through Multi-Sensor Informed Mixed Reality Visual Aids

et al. 2021

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“…After the coverage mission is carried out by the flock and the environment model is reconstructed by the mapping software [16], a terrain traversability assessment is performed on such model, as reported in [8]. The DEM of the terrain is also considered; however, this is the model obtained by the aerial photogrammetric reconstruction, which is much finer than the DEM used for the flock mission planning in terms of resolution.…”

Section: Traversability Costmap Generationmentioning

confidence: 99%

“…The DEM of the terrain is also considered; however, this is the model obtained by the aerial photogrammetric reconstruction, which is much finer than the DEM used for the flock mission planning in terms of resolution. This level of detail allows us to perform an analysis of the geometric properties of the environment: the slope of the terrain and the presence of height discontinuities [8]. The outcome of this processing is a map that includes the traversing costs, which is used for the path planning of the rover within the unstructured environment in order to avoid steep paths as well as obstacles.…”

Section: Traversability Costmap Generationmentioning

confidence: 99%

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Coverage path planning for a flock of aerial vehicles to support autonomous rovers through traversability analysis

et al. 2019

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In rough terrains, such as landslides or volcanic eruptions, it is extremely complex to plan safe trajectories for an Unmanned Ground Vehicle (UGV), since both robot stability and path execution feasibility must be guaranteed. In this paper, we present a complete solution for the autonomous navigation of ground vehicles in the mentioned scenarios. The proposed solution integrates three different aspects. The first is the coverage path planning for the definition of UAV trajectories for aerial imagery acquisition. The collected images are used for the photogrammetric reconstruction of the considered area. The second aspect is the adoption of a flock of UAVs to implement the coverage in a parallel way. In fact, when non-coverable zones are present, decomposition of the whole area to survey is performed. A solution to assign the different regions among the flying vehicles composing the team is presented. The last aspect is the path planning of the ground vehicle by means of a traversability analysis performed on the terrain 3D model. The computed paths are optimal in terms of the difficulty of moving across the rough terrain. The results of each step within the overall approach are shown.

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“…Landing platform applications include: continuous mapping and survey; security; delivery of medicine, food items, groceries, parcels delivery, and others. Landing stations could also be mounted on ground or surface vehicles and used as an interface for group interaction between heterogeneous vehicles [ 2 , 3 , 4 , 5 , 6 , 7 ].…”

Section: Introductionmentioning

confidence: 99%

UAV Positioning Mechanisms in Landing Stations: Classification and Engineering Design Review

Galimov

Fedorenko

Klimchik

2020

Sensors

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Landing platforms’ automation is aimed at servicing vertical take-off and landing UAVs between flights and maintaining their airworthiness. Over the last few years, different designs for the landing platforms have been proposed. This shows a strong development and establishment of automatic landing platforms with UAV positioning devices on the landing site. Positioning and safe fixation of the UAV are some of the main features of the landing platform, especially if it is mounted on a movable vehicle. This article focuses exclusively on the landing platform and its elements that provide the positioning of the UAV by affecting it during and after the landing. Both active devices and mechanisms and passive elements used for positioning are considered. This article, based on the review of recent patents and publications, gives the classification of positioning approaches used in landing stations with the analysis of the required landing precision, as well as the pros and cons of each type of approach.

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A Global Path Planning Strategy for a UGV from Aerial Elevation Maps for Disaster Response

Cited by 13 publications

References 0 publications

Intuitive Robot Teleoperation Through Multi-Sensor Informed Mixed Reality Visual Aids

Intuitive Robot Teleoperation Through Multi-Sensor Informed Mixed Reality Visual Aids

Coverage path planning for a flock of aerial vehicles to support autonomous rovers through traversability analysis

UAV Positioning Mechanisms in Landing Stations: Classification and Engineering Design Review

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