Assisted teleoperation of quadcopters using obstacle avoidance

• Autorzy: Mendes J. , Ventura R.
• Języki publikacji: EN

Abstrakty

EN

Teleoperation of unmanned aerial vehicles often demands extensive training. Yet, even well trained pilots are prone to mistakes, resulting frequently in collisions of the vehicle with obstacles. This paper presents a method to assist the tele-operation of a quadrotor using an obstacle avoidance approach. In particular, rough map of the nearby environment is constructed using sonar sensors. This map is constructed using FastSLAM to allow tracking of the vehicle position with respect to the map. The map is then used to override operator commands that may lead to a collision. An unknown and GPS denied environment is considered. Experimental results using the USARsim simulator are presented.

Słowa kluczowe

EN

collision avoidance; 3D FastSLAM; quadcopter; occupancy grid mapping

• Wydawca: Łukasiewicz Industrial Research Institute for Automation and Measurements PIAP
• Czasopismo: Journal of Automation Mobile Robotics and Intelligent Systems
• Rocznik: 2013
• Tom: Vol. 7, No. 1
• Strony: 54--58
• Opis fizyczny: Bibliogr. 8 poz., rys.

Twórcy

autor

Mendes J.

• Institute for Systems and Robotics, Instituto Superior Técnico, Portugal

autor

Ventura R.

• Institute for Systems and Robotics, Instituto Superior Técnico, Portugal

Bibliografia

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• [7] S. Thrun,W. Burgard, D. Fox, “Probabilistic Robotics (Intelligent Robotics and Autonomous Agents)”, The MIT Press, 2005.
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