Relative position-based collision avoidance system for swarming UAVs using multi-sensor fusion
This paper presents the development of a quadrotor unmanned aerial vehicle (UAV) that is capable of quad-directional collision avoidance with obstacles in swarming applications through the implementation of relative position based cascaded PID position and velocity controllers. A collision avoidance...
| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
| Published: |
Asian Research Publishing Network
2015
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| Online Access: | http://psasir.upm.edu.my/id/eprint/46140/1/Relative%20position-based%20collision%20avoidance%20system%20for%20swarming%20UAVs%20using%20multi-sensor%20fusion.pdf |
| _version_ | 1825929646383824896 |
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| author | Rambabu, Rethnaraj Bahiki, Muhammad Rijaluddin Md Ali, Syaril Azrad |
| author_facet | Rambabu, Rethnaraj Bahiki, Muhammad Rijaluddin Md Ali, Syaril Azrad |
| author_sort | Rambabu, Rethnaraj |
| collection | UPM |
| description | This paper presents the development of a quadrotor unmanned aerial vehicle (UAV) that is capable of quad-directional collision avoidance with obstacles in swarming applications through the implementation of relative position based cascaded PID position and velocity controllers. A collision avoidance algorithm that decides evasive manoeuvres in two dimensional flight by the means of net error calculation was developed. Sensor fusion of ultrasonic (US) and infrared (IR) sensors was performed to obtain a reliable relative position data of obstacles which is then fed into collision avoidance controller (CAC) for generating necessary response in terms of attitude commands. Flight tests performed proved the capability of UAV to avoid collisions with the obstacles and dummy non-flying UAVs that existed at a closer distance in its four primary directions of detections during flight successfully. |
| first_indexed | 2024-03-06T08:59:46Z |
| format | Article |
| id | upm.eprints-46140 |
| institution | Universiti Putra Malaysia |
| language | English |
| last_indexed | 2024-03-06T08:59:46Z |
| publishDate | 2015 |
| publisher | Asian Research Publishing Network |
| record_format | dspace |
| spelling | upm.eprints-461402022-03-23T03:31:38Z http://psasir.upm.edu.my/id/eprint/46140/ Relative position-based collision avoidance system for swarming UAVs using multi-sensor fusion Rambabu, Rethnaraj Bahiki, Muhammad Rijaluddin Md Ali, Syaril Azrad This paper presents the development of a quadrotor unmanned aerial vehicle (UAV) that is capable of quad-directional collision avoidance with obstacles in swarming applications through the implementation of relative position based cascaded PID position and velocity controllers. A collision avoidance algorithm that decides evasive manoeuvres in two dimensional flight by the means of net error calculation was developed. Sensor fusion of ultrasonic (US) and infrared (IR) sensors was performed to obtain a reliable relative position data of obstacles which is then fed into collision avoidance controller (CAC) for generating necessary response in terms of attitude commands. Flight tests performed proved the capability of UAV to avoid collisions with the obstacles and dummy non-flying UAVs that existed at a closer distance in its four primary directions of detections during flight successfully. Asian Research Publishing Network 2015-11 Article PeerReviewed text en http://psasir.upm.edu.my/id/eprint/46140/1/Relative%20position-based%20collision%20avoidance%20system%20for%20swarming%20UAVs%20using%20multi-sensor%20fusion.pdf Rambabu, Rethnaraj and Bahiki, Muhammad Rijaluddin and Md Ali, Syaril Azrad (2015) Relative position-based collision avoidance system for swarming UAVs using multi-sensor fusion. ARPN Journal of Engineering and Applied Sciences, 10 (21). pp. 10012-10017. ISSN 1819-6608 http://www.arpnjournals.com/jeas/volume_21_2015.htm |
| spellingShingle | Rambabu, Rethnaraj Bahiki, Muhammad Rijaluddin Md Ali, Syaril Azrad Relative position-based collision avoidance system for swarming UAVs using multi-sensor fusion |
| title | Relative position-based collision avoidance system for swarming UAVs using multi-sensor fusion |
| title_full | Relative position-based collision avoidance system for swarming UAVs using multi-sensor fusion |
| title_fullStr | Relative position-based collision avoidance system for swarming UAVs using multi-sensor fusion |
| title_full_unstemmed | Relative position-based collision avoidance system for swarming UAVs using multi-sensor fusion |
| title_short | Relative position-based collision avoidance system for swarming UAVs using multi-sensor fusion |
| title_sort | relative position based collision avoidance system for swarming uavs using multi sensor fusion |
| url | http://psasir.upm.edu.my/id/eprint/46140/1/Relative%20position-based%20collision%20avoidance%20system%20for%20swarming%20UAVs%20using%20multi-sensor%20fusion.pdf |
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