An avoiding obstacles method of multi-rotor UAVs

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

研究成果: Conference contribution

1 引文 斯高帕斯(Scopus)

摘要

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.

原文English
主出版物標題Internet of Vehicles - Technologies and Services - 3rd International Conference, IOV 2016, Proceedings
編輯Ching-Hsien Hsu, Shangguang Wang, Ao Zhou, Ali Shawkat
發行者Springer Verlag
頁面91-103
頁數13
ISBN(列印)9783319519685
DOIs
出版狀態Published - 2016 一月 1
事件3rd International Conference Internet of Vehicles - Technologies and Services, IOV 2016 - Nadi, Fiji
持續時間: 2016 十二月 72016 十二月 10

出版系列

名字Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
10036 LNCS
ISSN(列印)0302-9743
ISSN(電子)1611-3349

Other

Other3rd International Conference Internet of Vehicles - Technologies and Services, IOV 2016
國家Fiji
城市Nadi
期間16-12-0716-12-10

All Science Journal Classification (ASJC) codes

  • Theoretical Computer Science
  • Computer Science(all)

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