UAV obstacle avoidance scheme using an output to input saturation transformation technique

Abstract

This paper presents a novel obstacle avoidance scheme for UAVs. This scheme is based on the use of a technique recently developed by one of the authors, which is based on a transformation of a variable constraint into an input saturation. In the case of obstacle avoidance, this saturation is designed so as to ensure a safe trajectory around the obstacles, offering a proof of this desired behavior. A low-cost RGB-D sensor has been used to detect obstacles as its output measurements of the environment are effortlessly interpreted even with a low power embedded processor. Experimental results are provided, together with a simulation, to prove the efficiency of the approach.

Adaptation of Dubins Paths for UAV Ground Obstacle Avoidance When Using a Low Cost On-Board GNSS Sensor

“…Camera images can be used for ground obstacle detection and identification, tracking of other UAVs, and, if needed, as a navigation data sensor for other ground obstacle avoidance algorithms [ 15 ]. The image depth may be used to predict the distance to the obstacle [ 16 ] and, in some cases, can be shared between several unmanned vehicles [ 17 ]. Using these camera-based information methods, even auto-landings can be implemented [ 18 ].…”