Volume XLII-2/W6
Int. Arch. Photogramm. Remote Sens. Spatial Inf. Sci., XLII-2/W6, 303-309, 2017
https://doi.org/10.5194/isprs-archives-XLII-2-W6-303-2017
© Author(s) 2017. This work is distributed under
the Creative Commons Attribution 4.0 License.
Int. Arch. Photogramm. Remote Sens. Spatial Inf. Sci., XLII-2/W6, 303-309, 2017
https://doi.org/10.5194/isprs-archives-XLII-2-W6-303-2017
© Author(s) 2017. This work is distributed under
the Creative Commons Attribution 4.0 License.

  24 Aug 2017

24 Aug 2017

USING DISTANCE SENSORS TO PERFORM COLLISION AVOIDANCE MANEUVRES ON UAV APPLICATIONS

A. Raimundo1,2, D. Peres1,2, N. Santos1,2, P. Sebastião1,2, and N. Souto1,2 A. Raimundo et al.
  • 1ISCTE-Instituto Universitário de Lisboa, DCTI, Avenida das Forças Armadas, 1649-026 Lisboa, Portugal
  • 2Instituto de Telecomunicações, Av. Rovisco Pais 1, 1049-001 Lisboa, Portugal

Keywords: UAV, object collision avoidance, distance sensing, LiDAR, 3D environment, drone, 3D vehicle

Abstract. The Unmanned Aerial Vehicles (UAV) and its applications are growing for both civilian and military purposes. The operability of an UAV proved that some tasks and operations can be done easily and at a good cost-efficiency ratio. Nowadays, an UAV can perform autonomous missions. It is very useful to certain UAV applications, such as meteorology, vigilance systems, agriculture, environment mapping and search and rescue operations. One of the biggest problems that an UAV faces is the possibility of collision with other objects in the flight area. To avoid this, an algorithm was developed and implemented in order to prevent UAV collision with other objects. “Sense and Avoid” algorithm was developed as a system for UAVs to avoid objects in collision course. This algorithm uses a Light Detection and Ranging (LiDAR), to detect objects facing the UAV in mid-flights. This light sensor is connected to an on-board hardware, Pixhawk’s flight controller, which interfaces its communications with another hardware: Raspberry Pi. Communications between Ground Control Station and UAV are made via Wi-Fi or cellular third or fourth generation (3G/4G). Some tests were made in order to evaluate the “Sense and Avoid” algorithm’s overall performance. These tests were done in two different environments: A 3D simulated environment and a real outdoor environment. Both modes worked successfully on a simulated 3D environment, and “Brake” mode on a real outdoor, proving its concepts.