[vc_empty_space][vc_empty_space]
UAV Obstacle Avoidance Algorithm Based on Ellipsoid Geometry
Sasongko R.A.a, Rawikara S.S.a, Tampubolon H.J.a
a Aeronautics and Astronautics, Faculty of Mechanical and Aerospace Engineering, Institut Teknologi Bandung, Bandung, 40132, Indonesia
[vc_row][vc_column][vc_row_inner][vc_column_inner][vc_separator css=”.vc_custom_1624529070653{padding-top: 30px !important;padding-bottom: 30px !important;}”][/vc_column_inner][/vc_row_inner][vc_row_inner layout=”boxed”][vc_column_inner width=”3/4″ css=”.vc_custom_1624695412187{border-right-width: 1px !important;border-right-color: #dddddd !important;border-right-style: solid !important;border-radius: 1px !important;}”][vc_empty_space][megatron_heading title=”Abstract” size=”size-sm” text_align=”text-left”][vc_column_text]© 2017, Springer Science+Business Media Dordrecht.An avoidance algorithm is proposed in this paper which works by generating avoiding waypoints, within the original predefined waypoints, when the vehicle finds obstacles obstructing its flightpath. The approach developed here bases the search for avoidance path on the utilization of ellipsoid geometry as a restricted zone containing the obstacle. The restricted ellipsoid zone is established by considering the identified obstacle geometry information, and further the ellipsoid becomes the basis for computing the new waypoints for avoiding the obstacle. These avoiding waypoints determined by computing the contact points between the ellipsoid and planes the normal vector of which are corresponded to the vehicle velocity vector. The information about geometry and dimension of the ellipsoid are computed from the information about obstacle geometry, which is assumed to be available, either from mission database or predicted from UAV’s ground detection system. In the development process, the algorithm is constructed in MATLAB environment and then simulated and analyzed in some scenarioed cases representing possible situations when an UAV has to avoid obstacles during its flight. This algorithm is intended to be integrated into the guidance system of UAV.[/vc_column_text][vc_empty_space][vc_separator css=”.vc_custom_1624528584150{padding-top: 25px !important;padding-bottom: 25px !important;}”][vc_empty_space][megatron_heading title=”Author keywords” size=”size-sm” text_align=”text-left”][vc_column_text]Detection system,Development process,Geometry information,MATLAB environment,Obstacle avoidance algorithms,Restricted zone,Vehicle velocity,Waypoints[/vc_column_text][vc_empty_space][vc_separator css=”.vc_custom_1624528584150{padding-top: 25px !important;padding-bottom: 25px !important;}”][vc_empty_space][megatron_heading title=”Indexed keywords” size=”size-sm” text_align=”text-left”][vc_column_text]Collision avoidance,Corrective Waypoints,Ellipsoid restricted zone[/vc_column_text][vc_empty_space][vc_separator css=”.vc_custom_1624528584150{padding-top: 25px !important;padding-bottom: 25px !important;}”][vc_empty_space][megatron_heading title=”Funding details” size=”size-sm” text_align=”text-left”][vc_column_text][/vc_column_text][vc_empty_space][vc_separator css=”.vc_custom_1624528584150{padding-top: 25px !important;padding-bottom: 25px !important;}”][vc_empty_space][megatron_heading title=”DOI” size=”size-sm” text_align=”text-left”][vc_column_text]https://doi.org/10.1007/s10846-017-0543-4[/vc_column_text][/vc_column_inner][vc_column_inner width=”1/4″][vc_column_text]Widget Plumx[/vc_column_text][/vc_column_inner][/vc_row_inner][/vc_column][/vc_row][vc_row][vc_column][vc_separator css=”.vc_custom_1624528584150{padding-top: 25px !important;padding-bottom: 25px !important;}”][/vc_column][/vc_row]