Interactive Sensing and Planning for a Quadrotor Vehicle in Partially Known Environments

No AccessEngineering NotesInteractive Sensing and Planning for a Quadrotor Vehicle in Partially Known EnvironmentsRuixiang Du and Raghvendra V. CowlagiRuixiang DuWorcester Polytechnic Institute, Worcester, Massachusetts 01609*Graduate Student, Department of Mechanical Engineering, 100 Institute Road.Search for more papers by this author and Raghvendra V. CowlagiWorcester Polytechnic Institute, Worcester, Massachusetts 01609†Assistant Professor, Aerospace Engineering Program, 100 Institute Road. Member AIAA (Corresponding Author).Search for more papers by this authorPublished Online:21 Apr 2019https://doi.org/10.2514/1.G003773SectionsRead Now ToolsAdd to favoritesDownload citationTrack citations ShareShare onFacebookTwitterLinked InRedditEmail About References [1] Bulgakov A., Emelianov S., Bock T. and Sayfeddine D., “Control of Hovering Altitude of a Quadrotor with Shifted Centre of Gravity for Inspection of High-Rise Structures,” Proceedings of the International Symposium on Automation and Robotics in Construction, Vol. 31, International Assoc. for Automation and Robotics in Construction (IAARC) Publ., Waterloo, Canada, July 2014, pp. 1–6. doi:https://doi.org/10.22260/isarc2014/0103 Google Scholar[2] Straub J., “Unmanned Aerial Systems: Consideration of the Use of Force for Law Enforcement Applications,” Technology in Society, Vol. 39, Nov. 2014, pp. 100–109. doi:https://doi.org/10.1016/j.techsoc.2013.12.004 CrossrefGoogle Scholar[3] Faust A., Palunko I., Cruz P., Fierro R. and Tapia L., “Automated Aerial Suspended Cargo Delivery Through Reinforcement Learning,” Artificial Intelligence, Vol. 247, June 2017, pp. 381–398. doi:https://doi.org/10.1016/j.artint.2014.11.009 Google Scholar[4] Valente J., Cerro J. D., Barrientos A. and Sanz D., “Aerial Coverage Optimization in Precision Agriculture Management: A Musical Harmony Inspired Approach,” Computers and Electronics in Agriculture, Vol. 99, Nov. 2013, pp. 153–159. doi:https://doi.org/10.1016/j.compag.2013.09.008 CrossrefGoogle Scholar[5] Goerzen C., Kong Z. and Mettler B., “A Survey of Motion Planning Algorithms from the Perspective of Autonomous UAV Guidance,” Journal of Intelligent and Robotic Systems, Vol. 57, Nos. 1–4, Nov. 2009, pp. 65–100. doi:https://doi.org/10.1007/s10846-009-9383-1 JIRSES 0921-0296 CrossrefGoogle Scholar[6] Kumar V. and Michael N., “Opportunities and Challenges with Autonomous Micro Aerial Vehicles,” International Journal of Robotics Research, Vol. 31, No. 11, Sept. 2012, pp. 1279–1291. doi:https://doi.org/10.1177/0278364912455954 CrossrefGoogle Scholar[7] Li Y. and Song S., “A Survey of Control Algorithms for Quadrotor Unmanned Helicopter,” 2012 IEEE Fifth International Conference on Advanced Computational Intelligence (ICACI), IEEE Publ., Piscataway, NJ, Oct. 2012, pp. 365–369. doi:https://doi.org/10.1109/ICACI.2012.6463187 Google Scholar[8] Dydek Z. T., Annaswamy A. M. and Lavretsky E., “Adaptive Control of Quadrotor UAVs: A Design Trade Study with Flight Evaluations,” IEEE Transactions on Control Systems Technology, Vol. 21, No. 4, July 2013, pp. 1400–1406. doi:https://doi.org/10.1109/TCST.2012.2200104 IETTE2 1063-6536 CrossrefGoogle Scholar[9] Wang H., Ye X., Tian Y., Zheng G. and Christov N., “Model-Free-Based Terminal SMC of Quadrotor Attitude and Position,” IEEE Transactions on Aerospace and Electronic Systems, Vol. 52, No. 5, Oct. 2016, pp. 2519–2528. doi:https://doi.org/10.1109/TAES.2016.150303 IEARAX 0018-9251 CrossrefGoogle Scholar[10] Ghommam J. and Saad M., “Autonomous Landing of a Quadrotor on a Moving Platform,” IEEE Transactions on Aerospace and Electronic Systems, Vol. 53, No. 3, June 2017, pp. 1504–1519. doi:https://doi.org/10.1109/TAES.2017.2671698 IEARAX 0018-9251 CrossrefGoogle Scholar[11] Mellinger D., Michael N. and Kumar V., “Trajectory Generation and Control for Precise Aggressive Maneuvers with Quadrotors,” International Journal of Robotics Research, Vol. 31, No. 5, April 2012, pp. 664–674. doi:https://doi.org/10.1177/0278364911434236 CrossrefGoogle Scholar[12] Hehn M. and D’Andrea R., “Quadrocopter Trajectory Generation and Control,” IFAC Proceedings Volumes, Vol. 44, No. 1, Jan. 2011, pp. 1485–1491. doi:https://doi.org/10.3182/20110828-6-IT-1002.03178 CrossrefGoogle Scholar[13] Chamseddine A., Zhang Y., Rabbath C. A., Join C. and Theilliol D., “Flatness-Based Trajectory Planning/Replanning for a Quadrotor Unmanned Aerial Vehicle,” IEEE Transactions on Aerospace and Electronic Systems, Vol. 48, No. 4, Oct. 2012, pp. 2832–2848. doi:https://doi.org/10.1109/TAES.2012.6324664. CrossrefGoogle Scholar[14] Landry B., Deits R., Florence P. R. and Tedrake R., “Aggressive Quadrotor Flight Through Cluttered Environments Using Mixed Integer Programming,” 2016 IEEE International Conference on Robotics and Automation (ICRA), IEEE Publ., Piscataway, NJ, May 2016, pp. 1469–1475. doi:https://doi.org/10.1109/ICRA.2016.7487282 Google Scholar[15] Deits R. and Tedrake R., “Efficient Mixed-Integer Planning for UAVs in Cluttered Environments,” 2015 IEEE International Conference on Robotics and Automation (ICRA), IEEE Publ., Piscataway, NJ, May 2015, pp. 42–49. doi:https://doi.org/10.1109/ICRA.2015.7138978 Google Scholar[16] Frazzoli E., Dahleh M. A. and Feron E., “Real-Time Motion Planning for Agile Autonomous Vehicles,” Proceedings of the 2001 American Control Conference, Vol. 1, IEEE Publ., Piscataway, NJ, 2001, pp. 43–49. doi:https://doi.org/10.1109/ACC.2001.945511 Google Scholar[17] Cutler M. and How J., “Actuator Constrained Trajectory Generation and Control for Variable-Pitch Quadrotors,” AIAA Guidance, Navigation, and Control Conference, AIAA Paper 2012-4777, Aug. 2012. doi:https://doi.org/10.2514/6.2012-4777 LinkGoogle Scholar[18] Pivtoraiko M., Mellinger D. and Kumar V., “Incremental Micro-UAV Motion Replanning for Exploring Unknown Environments,” 2013 IEEE International Conference on Robotics and Automation, IEEE Publ., Piscataway, NJ, May 2013, pp. 2452–2458. doi:https://doi.org/10.1109/ICRA.2013.6630910 Google Scholar[19] Ahn Y.-M., Block D. J. and Sreenivas R. S., “Autonomous Navigation and Localization of a Quadrotor in an Indoor Environment,” Journal of Aerospace Information Systems, Vol. 12, No. 12, Dec. 2015, pp. 699–709. doi:https://doi.org/10.2514/1.I010249 LinkGoogle Scholar[20] Bohdanov D. and Liu H., “Vision-Based Quadrotor Micro-UAV Position and Yaw Estimation and Control,” AIAA Guidance, Navigation, and Control Conference, AIAA Paper 2012-5048, Aug. 2012. doi:https://doi.org/10.2514/6.2012-5048 LinkGoogle Scholar[21] Barry A. J. and Tedrake R., “Pushbroom Stereo for High-Speed Navigation in Cluttered Environments,” 2015 IEEE International Conference on Robotics and Automation (ICRA), IEEE Publ., Piscataway, NJ, May 2015, pp. 3046–3052. doi:https://doi.org/10.1109/icra.2015.7139617 Google Scholar[22] Popova M. G. and Liu H. H., “Position-Based Visual Servoing for Target Tracking by a Quadrotor UAV,” AIAA Guidance, Navigation, and Control Conference, AIAA Paper 2016-2092, Jan. 2016. doi:https://doi.org/10.2514/6.2016-2092 LinkGoogle Scholar[23] Magree D. and Johnson E. N., “Factored Extended Kalman Filter for Monocular Vision-Aided Inertial Navigation,” Journal of Aerospace Information Systems, Vol. 13, No. 12, Dec. 2016, pp. 475–490. doi:https://doi.org/10.2514/1.I010419 LinkGoogle Scholar[24] Dougherty J. A. and Lee T., “Monocular Estimation of Ground Orientation for Autonomous Landing of a Quadrotor,” Journal of Guidance, Control, and Dynamics, Vol. 39, No. 6, June 2016, pp. 1407–1416. doi:https://doi.org/10.2514/1.G001229 JGCODS 0731-5090 LinkGoogle Scholar[25] Park J. and Kim Y., “Collision Avoidance for Quadrotor Using Stereo Vision Depth Maps,” IEEE Transactions on Aerospace and Electronic Systems, Vol. 51, No. 4, Oct. 2015, pp. 3226–3241. doi:https://doi.org/10.1109/TAES.2015.140222 IEARAX 0018-9251 CrossrefGoogle Scholar[26] Park J. and Kim Y., “Horizontal-Vertical Guidance of Quadrotor for Obstacle Shape Mapping,” IEEE Transactions on Aerospace and Electronic Systems, Vol. 52, No. 6, Dec. 2016, pp. 3024–3035. doi:https://doi.org/10.1109/TAES.2016.150727 IEARAX 0018-9251 CrossrefGoogle Scholar[27] Lopez B. T. and How J. P., “Aggressive 3-D Collision Avoidance for High-Speed Navigation,” 2017 IEEE International Conference on Robotics and Automation (ICRA), IEEE Publ., Piscataway, NJ, May 2017, pp. 5759–5765. doi:https://doi.org/10.1109/icra.2017.7989677 Google Scholar[28] Lopez B. T. and How J. P., “Aggressive Collision Avoidance with Limited Field-of-View Sensing,” 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), IEEE Publ., Piscataway, NJ, Sept. 2017, pp. 1358–1365. doi:https://doi.org/10.1109/iros.2017.8202314 Google Scholar[29] Bryson M. and Sukkarieh S., Inertial Sensor-Based Simultaneous Localization and Mapping for UAVs, Springer, Dordrecht, The Netherlands, 2015, pp. 401–431. doi:https://doi.org/10.1007/978-90-481-9707-1_5 CrossrefGoogle Scholar[30] Backer G., Mertsching B. and Bollmann M., “Data- and Model-Driven Gaze Control for an Active-Vision System,” IEEE Transactions on Pattern Analysis and Machine Intelligence, Vol. 23, No. 12, 2001, pp. 1415–1429. doi:https://doi.org/10.1109/34.977565 ITPIDJ 0162-8828 CrossrefGoogle Scholar[31] Falanga D., Mueggler E., Faessler M. and Scaramuzza D., “Aggressive Quadrotor Flight Through Narrow Gaps with Onboard Sensing and Computing Using Active Vision,” 2017 IEEE International Conference on Robotics and Automation (ICRA), IEEE Publ., Piscataway, NJ, May 2017, pp. 5774–5781. doi:https://doi.org/10.1109/ICRA.2017.7989679 Google Scholar[32] Bertsekas D. P., Dynamic Programming and Optimal Control, Athena Scientific, Belmont, MA, 2000, pp. 184–221. Google Scholar[33] Du R. and Cowlagi R. V., “Interactive Sensing and Path-Planning with Incremental 3D Path Repair for a Quadrotor UAV in Cluttered and Partially Known Environments,” Proceedings of the 56th IEEE Conference on Decision & Control, IEEE Publ., Piscataway, NJ, Dec. 2017, pp. 933–938. doi:https://doi.org/10.1109/CDC.2017.8263778 Google Scholar[34] Horaud R., Hansard M., Evangelidis G. and Ménier C., “An Overview of Depth Cameras and Range Scanners Based on Time-of-Flight Technologies,” Machine Vision and Applications, Vol. 27, No. 7, Oct. 2016, pp. 1005–1020. doi:https://doi.org/10.1007/s00138-016-0784-4 MVAPEO 0932-8092 CrossrefGoogle Scholar[35] Karaman S. and Frazzoli E., “High-Speed Motion with Limited Sensing Range in a Poisson Forest,” 2012 IEEE 51st IEEE Conference on Decision and Control (CDC), IEEE Publ., Piscataway, NJ, Dec. 2012, pp. 3735–3740. doi:https://doi.org/10.1109/CDC.2012.6426047 Google Scholar[36] Bertsekas D. P. and Tsitsiklis J. N., Introduction to Probability, Athena Scientific, Belmont, MA, 2008, Sec. 5.2. Google Scholar[37] Cormen T. H., Leiserson C. E., Rivest R. L. and Stein C., Introduction to Algorithms, 2nd ed., MIT Press, Cambridge, MA, 2001, pp. 658–664. Google Scholar[38] “V-REP: Virtual Robotics Experimentation Platform,” April 2017, http://www.coppeliarobotics.com/ [retrieved 20 April 2018]. Google Scholar[39] Fliess M., Lévine J., Martin P. and Rouchon P., “Flatness and Defect of Non-Linear Systems: Introductory Theory and Examples,” International Journal of Control, Vol. 61, No. 6, June 2007, pp. 1327–1361. doi:https://doi.org/10.1080/00207179508921959 IJCOAZ 0020-7179 CrossrefGoogle Scholar[40] Mellinger D. and Kumar V., “Minimum Snap Trajectory Generation and Control for Quadrotors,” 2011 IEEE International Conference on Robotics and Automation (ICRA), IEEE Publ., Piscataway, NJ, May 2011, pp. 2520–2525. doi:https://doi.org/10.1109/ICRA.2011.5980409 Google Scholar[41] Richter C., Bry A. and Roy N., “Polynomial Trajectory Planning for Aggressive Quadrotor Flight in Dense Indoor Environments,” Springer Tracts in Advanced Robotics, Springer, Basel, Switzerland, 2016, pp. 649–666. doi:https://doi.org/10.1007/978-3-319-28872-7_37 Google Scholar[42] Mellinger D., Trajectory Generation and Control for Quadrotors, Ph.D. Thesis, Univ. of Pennsylvania, Philadelphia, PA, Aug. 2012. Google Scholar[43] Cutler M. and How J. P., “Analysis and Control of a Variable-Pitch Quadrotor for Agile Flight,” Journal of Dynamic Systems, Measurement, and Control, Vol. 137, No. 10, Oct. 2015, Paper 101002. doi:https://doi.org/10.1115/1.4030676 JDSMAA 0022-0434 CrossrefGoogle Scholar[44] Hornung A., Wurm K. M., Bennewitz M., Stachniss C. and Burgard W., “OctoMap: An Efficient Probabilistic 3D Mapping Framework Based on Octrees,” Autonomous Robots, Vol. 34, No. 3, 2018, pp. 189–206, http://octomap.github.com [retrieved 20 April 2018]. doi:https://doi.org/10.1007/s10514-012-9321-0 Google Scholar[45] Jung D., “Hierarchical Path Planning and Control of a Small Fixed-Wing UAV: Theory and Experimental Validation,” Ph.D. Thesis, Georgia Inst. of Technology, Atlanta, GA, 2007. Google Scholar Previous article Next article FiguresReferencesRelatedDetails What's Popular Volume 42, Number 7July 2019Supplemental Materials CrossmarkInformationCopyright © 2019 by Ruixiang Du and Raghvendra V. Cowlagi. Published by the American Institute of Aeronautics and Astronautics, Inc., with permission. All requests for copying and permission to reprint should be submitted to CCC at www.copyright.com; employ the eISSN 1533-3884 to initiate your request. See also AIAA Rights and Permissions www.aiaa.org/randp. TopicsAircraft Operations and TechnologyAircraft Stability and ControlAircraftsAvionicsControl SystemsControl TheoryFlight Control SurfacesGuidance, Navigation, and Control SystemsNavigational GuidanceOptimal Control TheoryQuadcopterSensorsTracking and Positioning SystemsTransducersUnmanned Aerial Vehicle KeywordsQuadcopterMotion PlanningUAVTrajectory OptimizationDijkstra's AlgorithmNumerical SimulationUltrasonic SensorsCost ReductionObstacle AvoidanceStereo CamerasPDF Received23 April 2018Accepted1 March 2019Published online21 April 2019