An avoiding obstacles method of multi-rotor UAVs

Shouzhi Xu, Yuan Cheng, Huan Zhou, Chungming Huang, Zhiyong Huang

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Citation (Scopus)


As UAVs (Unmanned Aerial Vehicle) being widely used in remote sensing of agriculture resources and many other areas, the security of UAVs flying at a low altitude is getting more and more serious. This paper studies on the problem of obstacle avoidance while the UAV cruises at low altitude for agriculture sensing. Two kinds of obstacles are taken into account. A rapid obstacle-avoidance algorithm with adding a compensation waypoint is proposed for the avoidance of static obstacles; and a real-time method with dynamic information of navigation status and flying control sequence is proposed for tackling dynamic obstacles. Based on the sharing obstacle avoidance information, UAVs optimize their flight paths dynamically. Simulation results show that UAVs can avoid both static and dynamic kinds of obstacles quickly and their heading angles have a good convergence effect after flying over obstacles which can save much more energy for UAVs.

Original languageEnglish
Title of host publicationInternet of Vehicles - Technologies and Services - 3rd International Conference, IOV 2016, Proceedings
EditorsChing-Hsien Hsu, Shangguang Wang, Ao Zhou, Ali Shawkat
PublisherSpringer Verlag
Number of pages13
ISBN (Print)9783319519685
Publication statusPublished - 2016
Event3rd International Conference Internet of Vehicles - Technologies and Services, IOV 2016 - Nadi, Fiji
Duration: 2016 Dec 72016 Dec 10

Publication series

NameLecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Volume10036 LNCS
ISSN (Print)0302-9743
ISSN (Electronic)1611-3349


Other3rd International Conference Internet of Vehicles - Technologies and Services, IOV 2016

All Science Journal Classification (ASJC) codes

  • Theoretical Computer Science
  • Computer Science(all)

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