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Evaluation of Reactive Obstacle Avoidance Algorithms for a Quadcopter
Linköping University, Department of Computer and Information Science, Artificial Intelligence and Integrated Computer Systems. Linköping University, Faculty of Science & Engineering.ORCID iD: 0000-0003-3011-1505
Linköping University, Department of Computer and Information Science, Artificial Intelligence and Integrated Computer Systems. Linköping University, Faculty of Science & Engineering. (KPLAB)
Linköping University, Department of Computer and Information Science, Artificial Intelligence and Integrated Computer Systems. Linköping University, Faculty of Science & Engineering.
irobot.
2016 (English)In: Proceedings of the 14th International Conference on Control, Automation, Robotics and Vision 2016 (ICARCV), IEEE conference proceedings, 2016Conference paper (Refereed)
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.

Place, publisher, year, edition, pages
IEEE conference proceedings, 2016.
National Category
Computer Vision and Robotics (Autonomous Systems)
Identifiers
URN: urn:nbn:se:liu:diva-130956OAI: oai:DiVA.org:liu-130956DiVA: diva2:957288
Conference
14th International Conference on Control, Automation, Robotics and Vision (ICARCV), Phuket, Thailand, November 13-15, 2016
Available from: 2016-09-01 Created: 2016-09-01 Last updated: 2016-09-08Bibliographically approved

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Berger, CyrilleRudol, PiotrWzorek, Mariusz
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Artificial Intelligence and Integrated Computer SystemsFaculty of Science & Engineering
Computer Vision and Robotics (Autonomous Systems)

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