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

Chun Wei Chen, Ping Hsun Hsieh, Wei Hsiang Lai

研究成果: Conference article同行評審

1 引文 斯高帕斯(Scopus)


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. |

頁(從 - 到)71-75
期刊International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences - ISPRS Archives
出版狀態Published - 2017 8月 23
事件4th ISPRS International Conference on Unmanned Aerial Vehicles in Geomatics, UAV-g 2017 - Bonn, Germany
持續時間: 2017 9月 42017 9月 7

All Science Journal Classification (ASJC) codes

  • 資訊系統
  • 地理、規劃與發展


深入研究「Application of decision tree on collision avoidance system design and verification for quadcopter」主題。共同形成了獨特的指紋。