Mapping on Demand: Autonomous Mission Planning and Execution, Obstacle Avoidance

1,428 views · Published 18 October 2014 · 3:10 · Indexed 5 October 2026

Channel: nimbro · 2014 · Science & Technology

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The video shows an autonomous multicopter, developed at University of Bonn in the DFG Research Unit Mapping on Demand.
The first part shows mission planning to observation poses along the roof gutter of a building, based on a rough model of the terrain and the building. Shown are also perceived obstacles and the resulting allocentric navigation plan. The copter executes the mission autonomously while replanning continuously to account for its pose deviations and perceived obstacles. The second part of the video shows egocentric obstacle avoidance, based on measurements of a continuously rotating 3D laser scanner.

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