3D Collision Avoidance Scheme for Low-cost Micro UAVs

被引：0

作者：

Rubenecia, Areeya ^{[1
]}

Choi, Myungwhan ^{[1
]}

Choi, Hyo Hyun ^{[2
]}

机构：

[1] Sogang Univ, Dept Comp Sci & Engn, Seoul, South Korea

[2] Inha Tech Coll, Dept Comp Sci, Incheon, South Korea

来源：

2017 INTERNATIONAL CONFERENCE ON PLATFORM TECHNOLOGY AND SERVICE (PLATCON) | 2017年

基金：

新加坡国家研究基金会;

关键词：

UAV; 3D Collision Avoidance; Velocity Obstacle; Estimation; Sensor;

D O I：

暂无

中图分类号：

TP301 [理论、方法];

学科分类号：

081202 ;

摘要：

This paper involves trajectory planning for a low-cost UAV with limited sensing capability. The UAV must be able to safely reach its destination provided it can only gather limited information about its environment. We apply the velocity obstacle approach since it is applicable even with our model's limitation. When an obstacle is detected, the only information available is the distance to the obstacle and we estimate the needed information of the obstacle to be able to choose a collision-free trajectory towards the destination. We performed simulation on different obstacle movements and the collision-free trajectory of the UAV is shown in the simulation results.

引用

页码：161 / 166

页数：6

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