Obstacle Avoidance in Quadcopter Navigation Using Modified Local Mean K-Nearest Centroid Neighbor Method

Abstract

Quadcopter is a type of Unmanned Aerial Vehicle (UAV) technology, characterized by simple mechanical structure, ease of flying and good maneuvering. In its usage, the quadcopter is required to evade obstacles in its path. Thus, an obstacle avoidance system in a 3D space with both static and dynamic obstacles is. Avoidance direction is determined by considering nearest distance based on the dimensions of the obstacle. Due to limited battery capacity, the quadcopter also needs to consider energy efficiency in obstacle avoidance. The obstacle’s properties and movement direction are also needed in considering the correct avoidance direction. Using a modified Local Mean K-Nearest Centroid Neighbor (LMKNCN) algorithm results in a 97.5% accuracy for avoidance direction decision. The learning process between training data and testing data yielded a computation duration of 0.142341 seconds. The simulations showed that the quadcopter is able to avoid static and dynamic obstacles to reach its destination without collisions.