Obstacle Magnification for 2-D Collision and Occlusion Avoidance of Autonomous Multirotor Aerial Vehicles

Collision or occlusion avoidance is one of the most important functions of autonomous unmanned vehicles when maneuvering or conducting missions, including monitoring or following targets in environments with various obstacles such as trees and buildings. While considering the minimum distance to obs...

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Bibliographic Details
Published inIEEE/ASME transactions on mechatronics Vol. 25; no. 5; pp. 2428 - 2436
Main Authors Lim, Jeonggeun, Pyo, Sangjin, Kim, Namyun, Lee, Jehong, Lee, Jongho
Format Journal Article
LanguageEnglish
Published New York IEEE 01.10.2020
The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subjects
Algorithms
Autonomous vehicle
Buildings
Collision avoidance
Embedded systems
Laser radar
mobile robot
Monitoring
multirotor
Obstacle avoidance
obstacle detection
obstacle magnification
Occlusion
occlusion avoidance
path generation
Safety
Sensors
Shape
Unmanned vehicles
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Summary:Collision or occlusion avoidance is one of the most important functions of autonomous unmanned vehicles when maneuvering or conducting missions, including monitoring or following targets in environments with various obstacles such as trees and buildings. While considering the minimum distance to obstacles or approximating the shape of obstacles is convenient, incorporating the shape of the original obstacles, sometimes, can provide more effective strategies for collision and occlusion avoidance of obstacles with complex shapes or arrangements. This article presents an obstacle magnification algorithm that magnifies but retains the original shape of the detected obstacles. Two simple parameters can adjust the position and magnification of the virtual obstacles. The simulation and outdoor experimental results for the obstacle magnification, implemented on an onboard embedded system, demonstrate the effectiveness of this concept, which should be useful in various applications for small autonomous multirotor aircrafts.
ISSN:1083-4435
1941-014X
DOI:10.1109/TMECH.2020.2975573