Reference : Safer UAV Piloting: A Robust Sense-and-Avoid Solution for Remotely Piloted Quadrotor ...
Scientific congresses, symposiums and conference proceedings : Paper published in a book
Engineering, computing & technology : Aerospace & aeronautics engineering
Engineering, computing & technology : Multidisciplinary, general & others
http://hdl.handle.net/10993/41663
Safer UAV Piloting: A Robust Sense-and-Avoid Solution for Remotely Piloted Quadrotor UAVs in Complex Environments
English
Wang, Min mailto [University of Luxembourg > Interdisciplinary Centre for Security, Reliability and Trust (SNT) > >]
Voos, Holger mailto [University of Luxembourg > Interdisciplinary Centre for Security, Reliability and Trust (SNT) > Engineering Research Unit > ; University of Luxembourg > Faculty of Science, Technology and Communication (FSTC) > Engineering Research Unit]
Dec-2019
Safer UAV Piloting: A Robust Sense-and-Avoid Solution for Remotely Piloted Quadrotor UAVs in Complex Environments
Yes
19th International Conference on Advanced Robotics
from 2-12-2019 to 6-12-2019
[en] Quadrotor UAV ; Obstacle Avoidance ; Nonlinear control
[en] Current commercial UAVs are to a large extent remotely piloted by amateur human pilots. Due to lack of teleoperation experience or skills, they often drive the UAVs into collision. Therefore, in order to ensure safety of the UAV as well as its surroundings, it is necessary for the UAV to boast the capability of detecting emergency situation and acting on its own when facing imminent threat. However, the majority of UAVs currently available in the market are not equipped with such capability. To fill in the gap, in this paper we present a complete sense-and-avoid solution for assisting unskilled pilots in ensuring a safe flight. Particularly, we propose a novel nonlinear vehicle control system which takes into account of sensor characteristics, an emergency evaluation policy and a novel optimization-based avoidance control strategy. The effectiveness of the proposed approach is demonstrated and
validated in simulation with multiple moving objects.
http://hdl.handle.net/10993/41663

File(s) associated to this reference

Fulltext file(s):

FileCommentaryVersionSizeAccess
Open access
ICAR19_0170_FI.pdfAuthor postprint2.99 MBView/Open

Bookmark and Share SFX Query

All documents in ORBilu are protected by a user license.