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.