<abstract xmlns="http://www.w3.org/1999/xhtml"><p>The investigations of the system which allow to avoid obstacles by the unmanned aerial vehicles (UAV) are presented in the paper. The system is designed to enable the full autonomous UAV flight in an unknown environment. As an information source about obstacles digital camera was used. Developed algorithm uses the existing relations between the imaging system and the parameters read from the UAV autopilot. Synthesis of the proposed obstacle avoidance control law was oriented for computational simplicity. Presented algorithm was checked during simulation studies and in-flight tests.</p></abstract>

The investigations of the system which allow to avoid obstacles by the unmanned aerial vehicles (UAV) are presented in the paper. The system is designed to enable the full autonomous UAV flight in an unknown environment. As an information source about obstacles digital camera was used. Developed algorithm uses the existing relations between the imaging system and the parameters read from the UAV autopilot. Synthesis of the proposed obstacle avoidance control law was oriented for computational simplicity. Presented algorithm was checked during simulation studies and in-flight tests.

Computationaly Simple Obstacle Avoidance Control Law for Small Unmanned Aerial Vehicles

Faculty of Mechanical Engineering, Automatic Control and Robotics Department, Bialystok University of Technology, ul. Wiejska 45C, 15-351 Białystok, Poland

Acta Mechanica et Automatica

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 3.0 License.

The investigations of the system which allow to avoid obstacles by the unmanned aerial vehicles (UAV) are presented in the paper. The system is designed to...

Computationaly Simple Obstacle Avoidance Control Law for Small Unmanned Aerial Vehicles

Published Online: May 15, 2015

Page range: 50 - 56

DOI: https://doi.org/10.1515/ama-2015-0010

© Bialystok University of Technology

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 3.0 License.