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Please use this identifier to cite or link to this item: http://dspace.lib.cranfield.ac.uk/handle/1826/6268

Document Type: Conference paper
Title: Airborne mapping of complex obstacles using 2D Splinegon
Authors: Lazarus, Samuel B.
Shanmugavel, Madhavan
Tsourdos, Antonios
Zbikowski, Rafal
White, Brian A.
Issue Date: 2008
Citation: Lazarus, S.B., Shanmugavel, M., Tsourdos, A., Zbikowski, R., White, B.A., Airborne mapping of complex obstacles using 2D Splinegon, American Control Conference, 11-13 June 2008, Seattle, WA, pp1238-1243.
Abstract: This paper describes a recently proposed algorithm in mapping the unknown obstacle in a stationary environment where the obstacles are represented as curved in nature. The focus is to achieve a guaranteed performance of sensor based navigation and mapping. The guaranteed performance is quantified by explicit bounds of the position estimate of an autonomous aerial vehicle using an extended Kalman filter and to track the obstacle so as to extract the map of the obstacle. This Dubins path planning algorithm is used to provide a flyable and safe path to the vehicle to fly from one location to another. This description takes into account the fact that the vehicle is made to fly around the obstacle and hence will map the shape of the obstacle using the 2D-Splinegon technique. This splinegon technique, the most efficient and a robust way to estimate the boundary of a curved nature obstacles, can provide mathematically provable performance guarantees that are achievable in practice.
URI: http://dx.doi.org/10.1109/ACC.2008.4586662
Appears in Collections:Staff publications - School of Engineering

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