Dynamic Obstacle Avoidance For A Quadrotor Using Collision Cone Approach

被引：0

作者：

Narekattu, Chris Mathews ^{[1
]}

Sreeja, S. ^{[2
]}

Jisha, V. R. ^{[2
]}

Kiran, R. ^{[3
]}

Gokulnath, K. ^{[4
]}

机构：

[1] Coll Engn Trivandrum, CCIR, Trivandrum, Kerala, India

[2] Coll Engn Trivandrum, Dept EEE, Trivandrum, Kerala, India

[3] Coll Engn Trivandrum, Dept ECE, Trivandrum, Kerala, India

[4] Ernst & Young, Cochin, Kerala, India

来源：

PROCEEDINGS OF THE 2018 SECOND INTERNATIONAL CONFERENCE ON INTELLIGENT COMPUTING AND CONTROL SYSTEMS (ICICCS) | 2018年

关键词：

Dynamic obstacle; Collison cone;

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper also discusses about the avoidance of dynamic or moving obstacle in a given environment. The algorithm used is the collision cone approach to avoid collisions between a quadrotor and a dynamic obstacle. The quadrotor is considered to be in collision course when its velocity vector lies inside the collision cone. The avoidance maneuver is achieved by generating lateral acceleration perpendicular to the direction of the velocity vector such that the quadrotor grazes the surface of the dynamic obstacle. This paper also discusses the collision cone approach for multiple obstacles.

引用

页码：551 / 554

页数：4

共 50 条

[1] Obstacle avoidance in a dynamic environment: A collision cone approach
Chakravarthy, A
Ghose, D
[J]. IEEE TRANSACTIONS ON SYSTEMS MAN AND CYBERNETICS PART A-SYSTEMS AND HUMANS, 1998, 28 (05): : 562 - 574
[2] Consensus Control of Mobile Agents with Obstacle Avoidance using Collision Cone Approach
Akkaya, Sirin
Akbati, Onur
Ergenc, Ali Fuat
[J]. 2018 6TH INTERNATIONAL CONFERENCE ON CONTROL ENGINEERING & INFORMATION TECHNOLOGY (CEIT), 2018,
[3] Decentralized motion planning for multi quadrotor with obstacle and collision avoidance
Zhang, Xuewei
Shen, Hongming
Xie, Guohui
Lu, Hanchen
Tian, Bailing
[J]. INTERNATIONAL JOURNAL OF INTELLIGENT ROBOTICS AND APPLICATIONS, 2021, 5 (02) : 176 - 185
[4] Decentralized motion planning for multi quadrotor with obstacle and collision avoidance
Xuewei Zhang
Hongming Shen
Guohui Xie
Hanchen Lu
Bailing Tian
[J]. International Journal of Intelligent Robotics and Applications, 2021, 5 : 176 - 185
[5] A Dynamic Window Approach with Collision Suppression Cone for Avoidance of Moving Obstacles
Guan, Mingyang
Wen, Changyun
Wei, Zhe
Ng, Cheng-Leong
Zou, Ying
[J]. 2018 IEEE 16TH INTERNATIONAL CONFERENCE ON INDUSTRIAL INFORMATICS (INDIN), 2018, : 337 - 342
[6] Collision Avoidance by IPMC Actuated Robotic Fish using the Collision Cone Approach
Sunkara, V.
Ye, Z.
Chakravarthy, A.
Chen, Z.
[J]. 2016 IEEE INTERNATIONAL CONFERENCE ON SIMULATION, MODELING, AND PROGRAMMING FOR AUTONOMOUS ROBOTS (SIMPAR), 2016, : 238 - 245
[7] Stereo vision based obstacle collision avoidance for a quadrotor using ellipsoidal bounding box and hierarchical clustering
Park, Jongho
Baek, Hoki
[J]. AEROSPACE SCIENCE AND TECHNOLOGY, 2020, 103
[8] Collision Cone Control Barrier Functions for Kinematic Obstacle Avoidance in UGVs
Thontepu, Phani
Goswami, Bhavya Giri
Tayal, Manan
Singh, Neelaksh
Sundar, Shyam P., I
Sundar, Shyam M. G.
Sundaram, Suresh
Katewa, Vaibhav
Kolathaya, Shishir
[J]. 2023 NINTH INDIAN CONTROL CONFERENCE, ICC, 2023, : 293 - 298
[9] Obstacle Avoidance Technology Based on Collision Cone for UAV Fast SLAM
Yang, Zeng-Xiang
Wang, Xi-Bin
Si, Wei-Chao
[J]. PROCEEDINGS OF THE 2016 5TH INTERNATIONAL CONFERENCE ON MEASUREMENT, INSTRUMENTATION AND AUTOMATION (ICMIA 2016), 2016, 138 : 178 - 183
[10] Quadrotor Obstacle Detection and Avoidance System Using a Monocular Camera
Valencia, David
Kim, Donghan
[J]. 2018 3RD ASIA-PACIFIC CONFERENCE ON INTELLIGENT ROBOT SYSTEMS (ACIRS 2018), 2018, : 78 - 81

← 1 2 3 4 5 →