Obstacle Detection and Collision Avoidance for a UAV With Complementary Low-Cost Sensors
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 thou...
| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
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IEEE
2015-01-01
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| Series: | IEEE Access |
| Subjects: | |
| Online Access: | https://ieeexplore.ieee.org/document/7105819/ |
| _version_ | 1819121005034995712 |
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| author | Nils Gageik Paul Benz Sergio Montenegro |
| author_facet | Nils Gageik Paul Benz Sergio Montenegro |
| author_sort | Nils Gageik |
| collection | DOAJ |
| description | 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 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. |
| first_indexed | 2024-12-22T06:29:40Z |
| format | Article |
| id | doaj.art-5e96ba8301264af2888c721815edba59 |
| institution | Directory Open Access Journal |
| issn | 2169-3536 |
| language | English |
| last_indexed | 2024-12-22T06:29:40Z |
| publishDate | 2015-01-01 |
| publisher | IEEE |
| record_format | Article |
| series | IEEE Access |
| spelling | doaj.art-5e96ba8301264af2888c721815edba592022-12-21T18:35:44ZengIEEEIEEE Access2169-35362015-01-01359960910.1109/ACCESS.2015.24324557105819Obstacle Detection and Collision Avoidance for a UAV With Complementary Low-Cost SensorsNils Gageik0Paul Benz1Sergio Montenegro2Chair Aerospace Information Technology, University of Wurzburg, Würzburg, GermanyChair Aerospace Information Technology, University of Wurzburg, Würzburg, GermanyChair Aerospace Information Technology, University of Wurzburg, Würzburg, GermanyThis 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.https://ieeexplore.ieee.org/document/7105819/collision avoidanceobstacle detectionultrasonicinfraredautonomousUAV |
| spellingShingle | Nils Gageik Paul Benz Sergio Montenegro Obstacle Detection and Collision Avoidance for a UAV With Complementary Low-Cost Sensors IEEE Access collision avoidance obstacle detection ultrasonic infrared autonomous UAV |
| title | Obstacle Detection and Collision Avoidance for a UAV With Complementary Low-Cost Sensors |
| title_full | Obstacle Detection and Collision Avoidance for a UAV With Complementary Low-Cost Sensors |
| title_fullStr | Obstacle Detection and Collision Avoidance for a UAV With Complementary Low-Cost Sensors |
| title_full_unstemmed | Obstacle Detection and Collision Avoidance for a UAV With Complementary Low-Cost Sensors |
| title_short | Obstacle Detection and Collision Avoidance for a UAV With Complementary Low-Cost Sensors |
| title_sort | obstacle detection and collision avoidance for a uav with complementary low cost sensors |
| topic | collision avoidance obstacle detection ultrasonic infrared autonomous UAV |
| url | https://ieeexplore.ieee.org/document/7105819/ |
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