Three-dimensional (3D) dynamic obstacle perception in a detect-and-avoid framework for unmanned aerial vehicles

Catrina Lim, Boyang Li, Ee Meng Ng, Xin Liu, Kin Huat Low

Research output: Chapter in book / Conference proceedingConference article published in proceeding or bookAcademic researchpeer-review

6 Citations (Scopus)

Abstract

In this paper, a 3D dynamic obstacle perception is developed in a detect-and-avoid (DAA) framework for unmanned aerial vehicles (UAVs) or drones. The framework requires only an end point coordinate for collision-free path-planning and execution in an environment with dynamic obstacles. The sense portion of the DAA framework takes data from an mmWave sensor and a depth camera while the detect portion of the framework updates a probabilistic octree when static and dynamic obstacles are sensed. Perception of dynamic obstacle was achieved by implementing an algorithm that clears the sensor's field of vision before computing the occupied voxels and populating the probabilistic octree. The avoidance portion of the framework is based on rapidly-exploring random tree (RRT) but the framework is flexible to allow other types of planners. This work develops the DAA framework for a UAV in a dynamic 3D environment by modifying the MoveIt framework. The framework is implemented on a UAV platform equipped with an on-board computational unit. The simulation and indoor experiments were conducted, which show that the modified DAA framework with dynamic 3D obstacle perception can successfully sense, detect and avoid obstacle. Additionally, the proposed perception method reduced the path re-plan time.

Original languageEnglish
Title of host publication2019 International Conference on Unmanned Aircraft Systems, ICUAS 2019
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages996-1004
Number of pages9
ISBN (Electronic)9781728103327
DOIs
Publication statusPublished - Jun 2019
Externally publishedYes
Event2019 International Conference on Unmanned Aircraft Systems, ICUAS 2019 - Atlanta, United States
Duration: 11 Jun 201914 Jun 2019

Publication series

Name2019 International Conference on Unmanned Aircraft Systems, ICUAS 2019

Conference

Conference2019 International Conference on Unmanned Aircraft Systems, ICUAS 2019
Country/TerritoryUnited States
CityAtlanta
Period11/06/1914/06/19

ASJC Scopus subject areas

  • Aerospace Engineering
  • Control and Optimization

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