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Evaluation of Reactive Obstacle Avoidance Algorithms for a Quadcopter
Linköpings universitet, Institutionen för datavetenskap, Artificiell intelligens och integrerade datorsystem. Linköpings universitet, Tekniska fakulteten.ORCID-id: 0000-0003-3011-1505
Linköpings universitet, Institutionen för datavetenskap, Artificiell intelligens och integrerade datorsystem. Linköpings universitet, Tekniska fakulteten. (KPLAB)
Linköpings universitet, Institutionen för datavetenskap, Artificiell intelligens och integrerade datorsystem. Linköpings universitet, Tekniska fakulteten.
iRobot, Pasadena, CA, USA.
2016 (Engelska)Ingår i: Proceedings of the 14th International Conference on Control, Automation, Robotics and Vision 2016 (ICARCV), IEEE conference proceedings, 2016, artikel-id Tu31.3Konferensbidrag, Publicerat paper (Refereegranskat)
Abstract [en]

In this work we are investigating reactive avoidance techniques which can be used on board of a small quadcopter and which do not require absolute localisation. We propose a local map representation which can be updated with proprioceptive sensors. The local map is centred around the robot and uses spherical coordinates to represent a point cloud. The local map is updated using a depth sensor, the Inertial Measurement Unit and a registration algorithm. We propose an extension of the Dynamic Window Approach to compute a velocity vector based on the current local map. We propose to use an OctoMap structure to compute a 2-pass A* which provide a path which is converted to a velocity vector. Both approaches are reactive as they only make use of local information. The algorithms were evaluated in a simulator which offers a realistic environment, both in terms of control and sensors. The results obtained were also validated by running the algorithms on a real platform.

Ort, förlag, år, upplaga, sidor
IEEE conference proceedings, 2016. artikel-id Tu31.3
Serie
International Conference on Control Automation Robotics and Vision, ISSN 2474-2953
Nationell ämneskategori
Datorseende och robotik (autonoma system)
Identifikatorer
URN: urn:nbn:se:liu:diva-130956DOI: 10.1109/ICARCV.2016.7838803ISI: 000405520900204Scopus ID: 2-s2.0-85015170851ISBN: 9781509035496 (digital)ISBN: 9781509047574 (digital)ISBN: 9781509035502 (tryckt)OAI: oai:DiVA.org:liu-130956DiVA, id: diva2:957288
Konferens
14th International Conference on Control, Automation, Robotics and Vision (ICARCV), Phuket, Thailand, November 13-15, 2016
Anmärkning

Funding agencies:This work is partially supported by the Swedish Research Council (VR) Linnaeus Center CADICS, the ELLIIT network organization for Information and Communication Technology, and the Swedish Foundation for Strategic Research (CUAS Project, SymbiKCIoud Project).

Tillgänglig från: 2016-09-01 Skapad: 2016-09-01 Senast uppdaterad: 2018-01-10Bibliografiskt granskad

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Berger, CyrilleRudol, PiotrWzorek, Mariusz

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Datorseende och robotik (autonoma system)

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