Quadcopter Obstacle Avoidance and Path Planning Using Flood Fill Method

Ranade, Sushrut; Manivannan, P. V.

doi:10.1109/icoias.2019.00036

Cited by 5 publications

(2 citation statements)

References 8 publications

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“…FFAs have gained interest in the context of optimal path planning for 2D platforms [24,25], that has demonstrated flexibility through effective integration with optimal motion planners such as the A* algorithm [26]. These concepts have evolved in application to optimal motion planning in 3D space for UAVs with an exhaustive search pattern [27]. Further FFA integration and heuristic mirroring has shown to enhance traditional path planning algorithms [28,29].…”

Section: First Iterationmentioning

confidence: 99%

A Novel Complete-Surface-Finding Algorithm for Online Surface Scanning with Limited View Sensors

Poole

Sutcliffe

Pierce

et al. 2021

Sensors

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Robotised Non-Destructive Testing (NDT) has revolutionised the field, increasing the speed of repetitive scanning procedures and ability to reach hazardous environments. Application of robot-assisted NDT within specific industries such as remanufacturing and Aersopace, in which parts are regularly moulded and susceptible to non-critical deformation has however presented drawbacks. In these cases, digital models for robotic path planning are not always available or accurate. Cutting edge methods to counter the limited flexibility of robots require an initial pre-scan using camera-based systems in order to build a CAD model for path planning. This paper has sought to create a novel algorithm that enables robot-assisted ultrasonic testing of unknown surfaces within a single pass. Key to the impact of this article is the enabled autonomous profiling with sensors whose aperture is several orders of magnitude smaller than the target surface, for surfaces of any scale. Potential applications of the algorithm presented include autonomous drone and crawler inspections of large, complex, unknown environments in addition to situations where traditional metrological profiling equipment is not practical, such as in confined spaces. In simulation, the proposed algorithm has completely mapped significantly curved and complex shapes by utilising only local information, outputting a traditional raster pattern when curvature is present only in a single direction. In practical demonstrations, both curved and non-simple surfaces were fully mapped with no required operator intervention. The core limitations of the algorithm in practical cases is the effective range of the applied sensor, and as a stand-alone method it lacks the required knowledge of the environment to prevent collisions. However, since the approach has met success in fully scanning non-obstructive but still significantly complex surfaces, the objectives of this paper have been met. Future work will focus on low-accuracy environmental sensing capabilities to tackle the challenges faced. The method has been designed to allow single-pass scans for Conformable Wedge Probe UT scanning, but may be applied to any surface scans in the case the sensor aperture is significantly smaller than the part.

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Section: First Iterationmentioning

confidence: 99%

A Novel Complete-Surface-Finding Algorithm for Online Surface Scanning with Limited View Sensors

Poole

Sutcliffe

Pierce

et al. 2021

Sensors

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“…avoidance and path planning simulation using the Flood Fill method [21]. This method was compared with the Potential Field method to show the fastest execution method.…”

Section: Ranade Et Al Developed Quadcopter Obstaclementioning

confidence: 99%

Local positioning system for autonomous vertical take-off and landing using ultra-wide band measurement ranging system

Tamami

Sumantri

Kristalina

2021

J. Mechatron. Electr. Power Veh. Technol.

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An autonomous vertical take-off and landing (VTOL) must be supported with an accurate positioning system, especially for autonomous take-off, landing, and other tasks in small area. This paper presents a novel method of small local outdoor positioning system for localizing the area of dropping and landing of autonomous VTOL by utilizing the low-cost precision ultra-wide band (UWB) ranging system. We compared symmetrical single sided-two way ranging (SSS-TWR), symmetrical double sided-two way ranging (SDS-TWR), and asymmetrical double sided-two way ranging (ADS-TWR) methods to get precision ranging measurement on UWB radio module. ADS-TWR was superior to others by resulting in minimum distance error. The ADS-TWR average error was 1.38 % (35.88 cm), SDS-TWR average error was 1.83 % (47.58 cm), and SSS-TWR average error was 2.73 % (70.98 cm). Furthermore, the trilateration method was utilized to obtain the local position of the autonomous VTOL. The trilateration method successfully implemented autonomous VTOL quadcopter positioning in a small local outdoor area (20 m x 30 m). Autonomous VTOL has been able to drop seven payloads in seven areas (2 m x 2 m) and landed in the home position (3 m x 3 m) successfully.

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