obstacle avoidance, UAV, unmanned aircraft
Small unmanned air vehicles are limited in sensor weight and power such that detection and avoidance of unknown obstacles during flight is difficult. This paper presents a low power low weight method of detection using a laser range finder. In addition, a rapidly-exploring random tree algorithm to generate waypoint paths around obstacles known a priori is presented, and a dynamic geometric algorithm to generate paths around detected obstacles is derived. The algorithms are demonstrated in simulation and in flight tests on a fixed-wing miniature air vehicle (MAV).
BYU ScholarsArchive Citation
Saunders, Jeffery Brian; Call, Brandon; Curtis, Andrew; Beard, Randal W.; and McLain, Timothy W., "Static and Dynamic Obstacle Avoidance for Miniature Air Vehicles" (2005). Faculty Publications. 1526.
Ira A. Fulton College of Engineering and Technology
Electrical and Computer Engineering
Saunders, J., Call B., Curtis, A., Beard, R., and McLain, T. Static and Dynamic Obstacle Avoidance for Miniature Air Vehicles, Proceedings of the AIAA Infotech@Aerospace Conference, AIAA-2005-6950, September 2005, Washington, DC. doi: 10.2514/6.2005-6950
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