ICUAS'17 Paper Abstract


Paper WeB2.5

Sanchez-Lopez, Jose Luis (CSIC - Universidad Politecnica de Madrid, Centro de Automatica y), Pestana Puerta, Jesus (Computer Vision Group, Centre for Automation and Robotics, CSIC-), Campoy, Pascual (Universidad Politecnica Madrid)

A Robust Real Time Path Planner for the Collision Free Navigation of Multirotor Aerial Robots in Dynamic Environments

Scheduled for presentation during the "Path Planning - II" (WeB2), Wednesday, June 14, 2017, 16:20−16:40, Salon AB

2017 International Conference on Unmanned Aircraft Systems, June 13-16, 2017, Miami Marriott Biscayne Bay, Miami, FL,

This information is tentative and subject to change. Compiled on April 12, 2021

Keywords Path Planning, Micro- and Mini- UAS, Swarms


The development of deliberative capabilities is required to achieve an intelligent fully autonomous behavior of unmanned aerial systems. An important deliberative capability is the generation of collision-free paths in complex environments.

This paper presents a robust real-time collision-free path planner used for the horizontal 2D navigation of multirotor aerial robots in dynamic environments. Its design, using geometric primitives to describe the environment combined with a launching time generation of a probabilistic roadmap graph, permits an efficient management of dynamic obstacles. The use of an A* discrete search algorithm, together with a potential field map as the cost function, allows to speed up the collision-free path computation ensuring that it never falls in local minima. Additionally, the velocity and acceleration along the collision-free planned path is calculated.

The performance of the proposed path planner is evaluated in this paper with two simulations with complex environments including a labyrinth and dead ends, and with a real flight experiment where three fully autonomous aerial robots executed an emulated search and rescue mission.

The proposed path planner has been released to the scientific community as an open-source software included in Aerostack ( In addition, it has extensively been used in multiple research projects with real flights, demonstrating its good performance.



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