Reactive obstacle avoidance for Rotorcraft UAVs
Reactive obstacle avoidance for Rotorcraft UAVs
- Neue Suche nach: Hrabar, S.
- Neue Suche nach: Hrabar, S.
We present a goal-directed 3D reactive obstacle avoidance algorithm specifically designed for Rotorcraft Unmanned Aerial Vehicles (RUAVs) that fly point-to-point type trajectories. The algorithm detects potential collisions within a cylindrical Safety Volume projected ahead of the UAV. This is done in a 3D occupancy map representation of the environment. An expanding elliptical search is performed to find an Escape Point; a waypoint which offers a collision free route past obstacles and towards a goal waypoint. An efficient occupied voxel checking technique is employed which approximates the Safety Volume by a series of spheres, and uses an approximate nearest neighbour search in a Bkd-tree representation of the occupied voxels. Tests show the algorithm can typically find an Escape Point in under 100 ms using onboard UAV processing for a cluttered environment with 20 000 occupied voxels. Successful collision avoidance results are presented from simulation experiments and from flights with an autonomous helicopter equipped with stereo and laser range sensors.
Dokumentinformationen
Reactive obstacle avoidance for Rotorcraft UAVs
2011
8 Seiten, 14 Quellen
Aufsatz (Konferenz)
Englisch
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