TY - GEN
T1 - An avoiding obstacles method of multi-rotor UAVs
AU - Xu, Shouzhi
AU - Cheng, Yuan
AU - Zhou, Huan
AU - Huang, Chungming
AU - Huang, Zhiyong
N1 - Funding Information:
This research was supported in part by Natural Science Foundation of China (61174177 and 41172298), National Technology R&D Program (2013AA10230207) and BRCAST-KFKT2014001.
Publisher Copyright:
© Springer International Publishing AG 2016.
PY - 2016
Y1 - 2016
N2 - 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.
AB - 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.
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U2 - 10.1007/978-3-319-51969-2_8
DO - 10.1007/978-3-319-51969-2_8
M3 - Conference contribution
AN - SCOPUS:85011333340
SN - 9783319519685
T3 - Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
SP - 91
EP - 103
BT - Internet of Vehicles - Technologies and Services - 3rd International Conference, IOV 2016, Proceedings
A2 - Hsu, Ching-Hsien
A2 - Wang, Shangguang
A2 - Zhou, Ao
A2 - Shawkat, Ali
PB - Springer Verlag
T2 - 3rd International Conference Internet of Vehicles - Technologies and Services, IOV 2016
Y2 - 7 December 2016 through 10 December 2016
ER -