Obstacle Avoidance Technology Based on Collision Cone for UAV FastSLAM

DOI

10.2991/icmia-16.2016.33How to use a DOI?

Keywords

collision cone; simultaneous location and mapping; uninhabited aerial vehicle; obstacle avoidance

Abstract

To solve the obstacle avoidance problem when UAV is implementing SLAM, a collision cone is built using obstacle avoidance strategy based on collision cone. By ascertaining whether the velocity direction of UAV motion is within the cone, the occasion of UAV obstacle avoidance is judged. This algorithm is simulated and tested based on two dimension built motion model of UAV. The result shows that this algorithm not only complishes SLAM, estimating the position of UAV and obstacles, but also achieving better obstacle avoidance effects.

Copyright

© 2016, the Authors. Published by Atlantis Press.

Open Access

This is an open access article distributed under the CC BY-NC license (http://creativecommons.org/licenses/by-nc/4.0/).

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TY  - CONF
AU  - Zeng-Xiang Yang
AU  - Xi-Bin Wang
AU  - Wei-Chao Si
PY  - 2016/11
DA  - 2016/11
TI  - Obstacle Avoidance Technology Based on Collision Cone for UAV FastSLAM
BT  - Proceedings of the 2016 5th International Conference on Measurement, Instrumentation and Automation (ICMIA 2016)
PB  - Atlantis Press
SP  - 178
EP  - 183
SN  - 1951-6851
UR  - https://doi.org/10.2991/icmia-16.2016.33
DO  - 10.2991/icmia-16.2016.33
ID  - Yang2016/11
ER  -