TY - GEN
T1 - Moving obstacle avoidance for unmanned aerial vehicles
AU - Lin, Yucong
AU - Saripalli, Srikanth
PY - 2013
Y1 - 2013
N2 - We investigated moving obstacle avoidance for Unmanned Aerial Vehicles (UAVs). We propose a two-stage approach for obstacle avoidance. Stage 1 involves a global path planner and Stage 2 uses a local potential field planner. By combining them in a hierachical manner, we are going to develop a complete system for avoiding stationary as well as moving obstacles for UAVs. The global planner uses Dubins curves (Ref. 1) coupled with a Kalman filter to predict the collision point and plan paths that are obstacle free. We demonstrate the efficacy of the system using simulated UAVs and real aircraft broadcasting their position using the ADS-B (Automatic Dependent Surveillance-Broadcast (ADS-B) (Ref. 2) system. A local planner is also developed for avoiding obstacles that do not use ADS-B. This local planner uses vision for obstacle detection and potential fields for obstacle avoidance. The effectiveness of the global and local path planners are demonstrated in simulations. Copyright
AB - We investigated moving obstacle avoidance for Unmanned Aerial Vehicles (UAVs). We propose a two-stage approach for obstacle avoidance. Stage 1 involves a global path planner and Stage 2 uses a local potential field planner. By combining them in a hierachical manner, we are going to develop a complete system for avoiding stationary as well as moving obstacles for UAVs. The global planner uses Dubins curves (Ref. 1) coupled with a Kalman filter to predict the collision point and plan paths that are obstacle free. We demonstrate the efficacy of the system using simulated UAVs and real aircraft broadcasting their position using the ADS-B (Automatic Dependent Surveillance-Broadcast (ADS-B) (Ref. 2) system. A local planner is also developed for avoiding obstacles that do not use ADS-B. This local planner uses vision for obstacle detection and potential fields for obstacle avoidance. The effectiveness of the global and local path planners are demonstrated in simulations. Copyright
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M3 - Conference contribution
AN - SCOPUS:84883423774
SN - 9781627486514
T3 - Annual Forum Proceedings - AHS International
SP - 1105
EP - 1116
BT - 69th American Helicopter Society International Annual Forum 2013
T2 - 69th American Helicopter Society International Annual Forum 2013
Y2 - 21 May 2013 through 23 May 2013
ER -