3D Path Planning and Stereo-based Obstacle Avoidance for Rotorcr...

We present a synthesis of techniques for rotorcraft UAV navigation through unknown environments which may contain obstacles. D* Lite and Probabilistic Roadmaps are combined for path planning, together with stereo vision for obstacle detection and dynamic path updating. A 3D occupancy map is used to represent the environment, and is updated online using stereo data. The target application is autonomous helicopter-based structure inspections, which require the UAV to fly safely close to the structures it is inspecting. Results are presented from simulation and with real flight hardware mounted onboard a cable array robot, demonstrating successful navigation through unknown environments containing obstacles. Index Terms—UAV, autonomous helicopter, power line inspection, stereo vision, obstacle detection, path planning