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Obstacle Detection and Collision Avoidance for a UAV with Complementary Low-Cost Sensors

Please always quote using this URN: urn:nbn:de:bvb:20-opus-125481
  • 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 thisThis 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.show moreshow less

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Metadaten
Author: Nils Gageik, Paul Benz, Sergio Montenegro
URN:urn:nbn:de:bvb:20-opus-125481
Document Type:Journal article
Faculties:Fakultät für Mathematik und Informatik / Institut für Informatik
Language:English
Parent Title (English):IEEE Access
Year of Completion:2015
Volume:3
Pagenumber:599 - 609
Source:IEEE Access 3(2015) 599 - 609. DOI:10.1109/ACCESS.2015.2432455
DOI:https://doi.org/10.1109/ACCESS.2015.2432455
Dewey Decimal Classification:6 Technik, Medizin, angewandte Wissenschaften / 62 Ingenieurwissenschaften / 629 Andere Fachrichtungen der Ingenieurwissenschaften
Tag:UAV; autonomous; collision avoidance; distance measurement; helicopters; infrared; infrared detectors; obstacle detection; quadrocopter; quadrotor; ultrasonic autonomous aerial vehicles
Release Date:2017/03/03
Note:
(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
Collections:Open-Access-Publikationsfonds / Förderzeitraum 2015
Licence (German):License LogoDeutsches Urheberrecht