12548
2015
eng
599 - 609
3
article
1
2016-01-26
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Obstacle Detection and Collision Avoidance for a UAV with Complementary Low-Cost Sensors
This paper demonstrates an innovative and simple solution for obstacle detection and collision avoidance of unmanned aerial vehicles (UAVs) optimized for and evaluated with quadrotors. The sensors exploited in this paper are low-cost ultrasonic and infrared range finders, which are much cheaper though noisier than more expensive sensors such as laser scanners. This needs to be taken into consideration for the design, implementation, and parametrization of the signal processing and control algorithm for such a system, which is the topic of this paper. For improved data fusion, inertial and optical flow sensors are used as a distance derivative for reference. As a result, a UAV is capable of distance controlled collision avoidance, which is more complex and powerful than comparable simple solutions. At the same time, the solution remains simple with a low computational burden. Thus, memory and time-consuming simultaneous localization and mapping is not required for collision avoidance.
IEEE Access
10.1109/ACCESS.2015.2432455
urn:nbn:de:bvb:20-opus-125481
(c) 2015 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other users, including reprinting/ republishing this material for advertising or promotional purposes, creating new collective works for resale or redistribution to servers or lists, or reuse of any copyrighted components of this work in other works
IEEE Access 3(2015) 599 - 609. DOI:10.1109/ACCESS.2015.2432455
Deutsches Urheberrecht
Nils Gageik
Paul Benz
Sergio Montenegro
eng
uncontrolled
infrared
eng
uncontrolled
collision avoidance
eng
uncontrolled
autonomous
eng
uncontrolled
UAV
eng
uncontrolled
quadrocopter
eng
uncontrolled
obstacle detection
eng
uncontrolled
quadrotor
eng
uncontrolled
distance measurement
eng
uncontrolled
ultrasonic autonomous aerial vehicles
eng
uncontrolled
helicopters
eng
uncontrolled
infrared detectors
Andere Fachrichtungen der Ingenieurwissenschaften
open_access
Institut für Informatik
Förderzeitraum 2015
Universität Würzburg
https://opus.bibliothek.uni-wuerzburg.de/files/12548/Gageik_07105819.pdf
11362
2014
eng
article
1
2015-05-21
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Complementary Vision based Data Fusion for Robust Positioning and Directed Flight of an Autonomous Quadrocopter
The present paper describes an improved 4 DOF (x/y/z/yaw) vision based positioning solution for fully 6 DOF autonomous UAVs, optimised in terms of computation and development costs as well as robustness and performance. The positioning system combines Fourier transform-based image registration (Fourier Tracking) and differential optical flow computation to overcome the drawbacks of a single approach. The first method is capable of recognizing movement in four degree of freedom under variable lighting conditions, but suffers from low sample rate and high computational costs. Differential optical flow computation, on the other hand, enables a very high sample rate to gain control robustness. This method, however, is limited to translational movement only and performs poor in bad lighting conditions. A reliable positioning system for autonomous flights with free heading is obtained by fusing both techniques. Although the vision system can measure the variable altitude during flight, infrared and ultrasonic sensors are used for robustness. This work is part of the AQopterI8 project, which aims to develop an autonomous flying quadrocopter for indoor application and makes autonomous directed flight possible.
10.5121/ijaia.2014.5501
urn:nbn:de:bvb:20-opus-113621
International Journal of Artificial Intelligence & Applications (IJAIA), Vol. 5, No. 5, September 2014. DOI : 10.5121/ijaia.2014.5501
Deutsches Urheberrecht
Nils Gageik
Eric Reinthal
Paul Benz
Sergio Montenegro
eng
uncontrolled
Autonomous UAV
eng
uncontrolled
Quadrocopter
eng
uncontrolled
Quadrotor
eng
uncontrolled
Vision Based
eng
uncontrolled
Positioning
eng
uncontrolled
Data Fusion
eng
uncontrolled
Directed Flight
Informatik, Informationswissenschaft, allgemeine Werke
open_access
Institut für Informatik
Förderzeitraum 2014
Universität Würzburg
https://opus.bibliothek.uni-wuerzburg.de/files/11362/145_Gageik_IJAIA.pdf