홈 › Papers

Obstacle Avoidance for Drones Using a 3DVFH* Algorithm

Unmanned Aerial Vehicles (UA V) possess a vast potential for various autonomous applications such as surveying or delivery. When considering autonomous flight operations one of the most essential requirements certainly is a reliable obstacle avoidance mechanism. Obstacle avoidance is a very active field of research without any conclusive solutions so far. This thesis introduces the 3DVFH* obstacle avoid- ance algorithm suitable for real-time application on UAVs. The algorithm combines the ideas behind the previously presented 3DVFH+ and the VFH* algorithm with a novel memory strategy. The 3DVFH* algorithm computes obstacle avoidance maneuvers in a purely reactive manner without the need to build a global map of the environment. The memory strategy keeps track of previously seen obstacles by propagating the previous polar histogram to the current location. Various features, such as ground detection and safety mechanisms, have been implemented to increase the robustness and render application on UAVs possible. The 3DVFH* algorithm has been shown to effectively avoid obstacles in complex simulation scenarios ex- hibiting a look-ahead capability. The ground detection was shown to be able to keep a specified minimum distance to the ground. Real-world flight tests were performed by running the 3DVFH* algorithm on-board the Intel®Aero Ready to Fly drone equipped with only one forward facing camera. The drone was able to successfully avoid an obstacle in all of the 26 test flights.

Code (0)

등록된 구현이 없습니다.

Similar Papers 제목 키워드 기반