libOFN System Overview

Key Features of libOFN

  • Real time sensor-based terrain avoidance.
  • Validated in flight by the US Army Aviation Development Directorate - Aeroflightdynamics Directorate on the RMAX and Black Hawk helicopters.
  • Evidence grid terrain model provides optimal estimate of occupied and empty space.
  • Minimization of risk due to execution uncertainty and other threats including airspace restrictions.
  • Proven A* algorithm produces 3-dimensional risk-to-go map from risk map.
  • Velocity command output eliminates need for waypoint control, avoids spline matching problems.
  • Class-based C++ interface provides flexibility.

libOFN 2.0 Release Announcement (July 2014)

The libOFN team is proud to announce the release of libOFN version 2.0!

libOFN 2.0 is a major upgrade, and introduces a planning approach based on risk-minimization. This approach is better suited to handling continuous replanning and terrain sensed on-the-fly. Although libOFN 2.0 introduces several new API's, the core functionality is still built around a single Update() function, which updates the 3D terrain representation, calculates the latest commands, and begins a new replan when needed. This new API provides a future-compatible interface which will remain stable for future updates. The software and hardware requirements are unchanged from version 1.1. Please refer to the User's Guide on how to migrate from libOFN 1.1 to libOFN 2.0. As a current libOFN customer, you will receive a CD containing software and documentation in the next 1-2 weeks.

As a reminder, libSensor 1.0 continues to be offered as a free download to libOFN customers. The libSensor library is a hardware-accelerated real-time sensor simulation capable of handling complex geometry, and can be used in conjunction with libOFN to provide sensor data while simulating vehicle flight. libSensor is based on OpenSceneGraph (OSG), a 3-dimensional graphics library, and depends on OpenGL for hardware interfacing. This library simulates range sensors including scanning LADAR and flash LADAR, and will operate in any 3-dimensional environment that can be represented in an OSG-readable file.

libOFN 1.1 and libSensor 1.0 Release Announcement (January 2013)

The libOFN team announces the release of libOFN version 1.1. In addition, libSensor 1.0 is offered as a free download to libOFN customers.

libOFN 1.1 greatly simplifies the process of dynamic replanning. A new Update() function is called continuously and calculates whether there are any obstacles based on most recent sensor data, determines the next replan time, and calculates the new replan when needed. The Update() function simplifies tight integration between the planner and the inner loop controller, and provides a stable interface for future updates. Hardware and software dependencies are unchanged.

The newly-released libSensor 1.0 is a hardware-accelerated real-time sensor simulation capable of handling complex geometry. libSensor is based on OpenSceneGraph (OSG), a 3-dimensional graphics library, and depends on OpenGL for hardware interfacing. This library simulates range sensors including scanning LADAR and flash LADAR, and will operate in any 3-dimensional environment that can be represented in an OSG-readable file. Please contact us for the free download link if you are a current libOFN, libSLAD, or RIPTIDE customer.