Application of decision tree on collision avoidance system design and verification for quadcopter

Chun Wei Chen, Ping Hsun Hsieh, Wei Hsiang Lai

Research output: Contribution to journalConference articlepeer-review

1 Citation (Scopus)

Abstract

The purpose of the research is to build a collision avoidance system with decision tree algorithm used for quadcopters. While the ultrasonic range finder judges the distance is in collision avoidance interval, the access will be replaced from operator to the system to control the altitude of the UAV. According to the former experiences on operating quadcopters, we can obtain the appropriate pitch angle. The UAS implement the following three motions to avoid collisions. Case1: initial slow avoidance stage, Case2: slow avoidance stage and Case3: Rapid avoidance stage. Then the training data of collision avoidance test will be transmitted to the ground station via wireless transmission module to further analysis. The entire decision tree algorithm of collision avoidance system, transmission data, and ground station have been verified in some flight tests. In the flight test, the quadcopter can implement avoidance motion in real-time and move away from obstacles steadily. In the avoidance area, the authority of the collision avoidance system is higher than the operator and implements the avoidance process. The quadcopter can successfully fly away from the obstacles in 1.92 meter per second and the minimum distance between the quadcopter and the obstacle is 1.05 meters. |

Original languageEnglish
Pages (from-to)71-75
Number of pages5
JournalInternational Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences - ISPRS Archives
Volume42
Issue number2W6
DOIs
Publication statusPublished - 2017 Aug 23
Event4th ISPRS International Conference on Unmanned Aerial Vehicles in Geomatics, UAV-g 2017 - Bonn, Germany
Duration: 2017 Sep 42017 Sep 7

All Science Journal Classification (ASJC) codes

  • Information Systems
  • Geography, Planning and Development

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