Velocity Obstacle Based 3D Collision Avoidance Scheme for Low-Cost Micro UAVs

Myungwhan Choi, Areeya Rubenecia, Taeshik Shon and Hyo Hyun Choi
Additional contact information
Myungwhan Choi: Department of Computer Science and Engineering, Sogang University, Seoul 04107, Korea
Areeya Rubenecia: Department of Computer Science and Engineering, Sogang University, Seoul 04107, Korea
Taeshik Shon: Division of Information and Computer Engineering, Ajou University, Suwon 16499, Korea
Hyo Hyun Choi: Department of Computer Science, Inha Technical College, Incheon 22212, Korea

Sustainability, 2017, vol. 9, issue 7, 1-23

Abstract: An unmanned aerial vehicle (UAV) must be able to safely reach its destination even, when it can only gather limited information about its environment. When an obstacle is detected, the UAV must be able to choose a path that will avoid collision with the obstacle. For the collision avoidance scheme, we apply the velocity obstacle approach since it is applicable even with the UAV’s limited sensing capability. To be able to apply the velocity obstacle approach, we need to know the parameter values of the obstacle such as its size, current velocity and current position. However, due to the UAV’s limited sensing capability, such information about the obstacle is not available. Thus, by evaluating sensor readings, we get the changes in the possible positions of the obstacle in order to generate the velocity obstacle and make the UAV choose a collision-free trajectory towards the destination. We performed simulation on different obstacle movements and the collision-free trajectory of the UAV is shown in the simulation results.

Keywords: UAV; 3D collision avoidance; velocity obstacle; estimation; sensor (search for similar items in EconPapers)
JEL-codes: O13 Q Q0 Q2 Q3 Q5 Q56 (search for similar items in EconPapers)
Date: 2017
References: View complete reference list from CitEc
Citations: View citations in EconPapers (2)

Downloads: (external link)
https://www.mdpi.com/2071-1050/9/7/1174/pdf (application/pdf)
https://www.mdpi.com/2071-1050/9/7/1174/ (text/html)

Related works:
This item may be available elsewhere in EconPapers: Search for items with the same title.

Export reference: BibTeX RIS (EndNote, ProCite, RefMan) HTML/Text

Persistent link: https://EconPapers.repec.org/RePEc:gam:jsusta:v:9:y:2017:i:7:p:1174-:d:103829

Access Statistics for this article

Sustainability is currently edited by Ms. Alexandra Wu

More articles in Sustainability from MDPI
Bibliographic data for series maintained by MDPI Indexing Manager ().