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acessibilidade

http://hdl.handle.net/10071/17684
acessibilidade
Title: Using distance sensors to perform collision avoidance maneuvres on UAV applications
Authors: Raimundo, A.
Peres, D.
Santos, N.
Sebastião, P.
Souto, N.
Keywords: UAV
Object collision avoidance
Distance sensing
LiDAR
3D environment
Drone
3D vehicle
Issue Date: 2017
Publisher: Copernicus Publications
Abstract: The Unmanned Aerial Vehicles (UAV) and its applications are growing for both civilian and military purposes. The operability of an UAV proved that some tasks and operations can be done easily and at a good cost-efficiency ratio. Nowadays, an UAV can perform autonomous missions. It is very useful to certain UAV applications, such as meteorology, vigilance systems, agriculture, environment mapping and search and rescue operations. One of the biggest problems that an UAV faces is the possibility of collision with other objects in the flight area. To avoid this, an algorithm was developed and implemented in order to prevent UAV collision with other objects. “Sense and Avoid” algorithm was developed as a system for UAVs to avoid objects in collision course. This algorithm uses a Light Detection and Ranging (LiDAR), to detect objects facing the UAV in mid-flights. This light sensor is connected to an on-board hardware, Pixhawk’s flight controller, which interfaces its communications with another hardware: Raspberry Pi. Communications between Ground Control Station and UAV are made via Wi-Fi or cellular third or fourth generation (3G/4G). Some tests were made in order to evaluate the “Sense and Avoid” algorithm’s overall performance. These tests were done in two different environments: A 3D simulated environment and a real outdoor environment. Both modes worked successfully on a simulated 3D environment, and “Brake” mode on a real outdoor, proving its concepts.
Peer reviewed: yes
URI: http://hdl.handle.net/10071/17684
DOI: 10.5194/isprs-archives-XLII-2-W6-303-2017
ISSN: 1682-1750
Ciência-IUL: https://ciencia.iscte-iul.pt/id/ci-pub-44010
Accession number: WOS:000425670500046
Appears in Collections:IT-CRI - Comunicações a conferências internacionais

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