Computationaly simple obstacle avoidance control law for small unmanned aerial vehicles

• Autorzy: Cieśluk J. , Gosiewski Z. , Ambroziak L. , Romaniuk S.
• Języki publikacji: EN

Abstrakty

EN

The investigations of the system which allow to avoid obstacles by the unmanned aerial vehicles (UAV) are presented in the paper. The system is designed to enable the full autonomous UAV flight in an unknown environment. As an information source about obstacles digital camera was used. Developed algorithm uses the existing relations between the imaging system and the parameters read from the UAV autopilot. Synthesis of the proposed obstacle avoidance control law was oriented for computational simplicity. Presented algorithm was checked during simulation studies and in-flight tests.

Słowa kluczowe

EN

unmanned aerial vehicle; quadrotor control; obstacle avoidance; vision systems

PL

statki powietrzne bezzałogowe; unikanie przeszkód

• Wydawca: Oficyna Wydawnicza Politechniki Białostockiej
• Czasopismo: Acta Mechanica et Automatica
• Rocznik: 2015
• Tom: Vol. 9, no. 1
• Strony: 50--56
• Opis fizyczny: Bibliogr. 16 poz., rys., wykr.

Twórcy

autor

Cieśluk J.

• Faculty of Mechanical Engineering, Automatic Control and Robotics Department, Bialystok University of Technology, ul. Wiejska 45C, 15-351 Białystok, Poland

autor

Gosiewski Z.

• Faculty of Mechanical Engineering, Automatic Control and Robotics Department, Bialystok University of Technology, ul. Wiejska 45C, 15-351 Białystok, Poland

autor

Ambroziak L.

• Faculty of Mechanical Engineering, Automatic Control and Robotics Department, Bialystok University of Technology, ul. Wiejska 45C, 15-351 Białystok, Poland

autor

Romaniuk S.

• Faculty of Mechanical Engineering, Automatic Control and Robotics Department, Bialystok University of Technology, ul. Wiejska 45C, 15-351 Białystok, Poland

Bibliografia

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