Evaluation of Reactive Obstacle Avoidance Algorithms for a Quadcopter
2016 (English)In: Proceedings of the 14th International Conference on Control, Automation, Robotics and Vision 2016 (ICARCV), IEEE conference proceedings, 2016Conference paper (Refereed)
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.
Place, publisher, year, edition, pages
IEEE conference proceedings, 2016.
Computer Vision and Robotics (Autonomous Systems)
IdentifiersURN: urn:nbn:se:liu:diva-130956OAI: oai:DiVA.org:liu-130956DiVA: diva2:957288
14th International Conference on Control, Automation, Robotics and Vision (ICARCV), Phuket, Thailand, November 13-15, 2016