UAV Obstacle Avoidance Algorithm to Navigate in Dynamic Building Environments
In this work, a real-time collision avoidance algorithm was presented for autonomous navigation in the presence of fixed and moving obstacles in building environments. The current implementation is designed for autonomous navigation between waypoints of a predefined flight trajectory that would be p...
| Main Authors: | , , , |
|---|---|
| Format: | Article |
| Language: | English |
| Published: |
MDPI AG
2022-01-01
|
| Series: | Drones |
| Subjects: | |
| Online Access: | https://www.mdpi.com/2504-446X/6/1/16 |
| _version_ | 1797494566875561984 |
|---|---|
| author | Enrique Aldao Luis M. González-deSantos Humberto Michinel Higinio González-Jorge |
| author_facet | Enrique Aldao Luis M. González-deSantos Humberto Michinel Higinio González-Jorge |
| author_sort | Enrique Aldao |
| collection | DOAJ |
| description | In this work, a real-time collision avoidance algorithm was presented for autonomous navigation in the presence of fixed and moving obstacles in building environments. The current implementation is designed for autonomous navigation between waypoints of a predefined flight trajectory that would be performed by an UAV during tasks such as inspections or construction progress monitoring. It uses a simplified geometry generated from a point cloud of the scenario. In addition, it also employs information from 3D sensors to detect and position obstacles such as people or other UAVs, which are not registered in the original cloud. If an obstacle is detected, the algorithm estimates its motion and computes an evasion path considering the geometry of the environment. The method has been successfully tested in different scenarios, offering robust results in all avoidance maneuvers. Execution times were measured, demonstrating that the algorithm is computationally feasible to be implemented onboard an UAV. |
| first_indexed | 2024-03-10T01:36:10Z |
| format | Article |
| id | doaj.art-1a3767fe0c744b62a0637c78938e22f1 |
| institution | Directory Open Access Journal |
| issn | 2504-446X |
| language | English |
| last_indexed | 2024-03-10T01:36:10Z |
| publishDate | 2022-01-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Drones |
| spelling | doaj.art-1a3767fe0c744b62a0637c78938e22f12023-11-23T13:31:39ZengMDPI AGDrones2504-446X2022-01-01611610.3390/drones6010016UAV Obstacle Avoidance Algorithm to Navigate in Dynamic Building EnvironmentsEnrique Aldao0Luis M. González-deSantos1Humberto Michinel2Higinio González-Jorge3Engineering Physics Group, School of Aerospace Engineering, University of Vigo, Campus Ourense, 32004 Ourense, SpainEngineering Physics Group, School of Aerospace Engineering, University of Vigo, Campus Ourense, 32004 Ourense, SpainEngineering Physics Group, School of Aerospace Engineering, University of Vigo, Campus Ourense, 32004 Ourense, SpainEngineering Physics Group, School of Aerospace Engineering, University of Vigo, Campus Ourense, 32004 Ourense, SpainIn this work, a real-time collision avoidance algorithm was presented for autonomous navigation in the presence of fixed and moving obstacles in building environments. The current implementation is designed for autonomous navigation between waypoints of a predefined flight trajectory that would be performed by an UAV during tasks such as inspections or construction progress monitoring. It uses a simplified geometry generated from a point cloud of the scenario. In addition, it also employs information from 3D sensors to detect and position obstacles such as people or other UAVs, which are not registered in the original cloud. If an obstacle is detected, the algorithm estimates its motion and computes an evasion path considering the geometry of the environment. The method has been successfully tested in different scenarios, offering robust results in all avoidance maneuvers. Execution times were measured, demonstrating that the algorithm is computationally feasible to be implemented onboard an UAV.https://www.mdpi.com/2504-446X/6/1/16UAVs in constructionobstacle avoidanceLiDARoptimizationnon-linear programming |
| spellingShingle | Enrique Aldao Luis M. González-deSantos Humberto Michinel Higinio González-Jorge UAV Obstacle Avoidance Algorithm to Navigate in Dynamic Building Environments Drones UAVs in construction obstacle avoidance LiDAR optimization non-linear programming |
| title | UAV Obstacle Avoidance Algorithm to Navigate in Dynamic Building Environments |
| title_full | UAV Obstacle Avoidance Algorithm to Navigate in Dynamic Building Environments |
| title_fullStr | UAV Obstacle Avoidance Algorithm to Navigate in Dynamic Building Environments |
| title_full_unstemmed | UAV Obstacle Avoidance Algorithm to Navigate in Dynamic Building Environments |
| title_short | UAV Obstacle Avoidance Algorithm to Navigate in Dynamic Building Environments |
| title_sort | uav obstacle avoidance algorithm to navigate in dynamic building environments |
| topic | UAVs in construction obstacle avoidance LiDAR optimization non-linear programming |
| url | https://www.mdpi.com/2504-446X/6/1/16 |
| work_keys_str_mv | AT enriquealdao uavobstacleavoidancealgorithmtonavigateindynamicbuildingenvironments AT luismgonzalezdesantos uavobstacleavoidancealgorithmtonavigateindynamicbuildingenvironments AT humbertomichinel uavobstacleavoidancealgorithmtonavigateindynamicbuildingenvironments AT higiniogonzalezjorge uavobstacleavoidancealgorithmtonavigateindynamicbuildingenvironments |