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An Indoor Testbed System with simulated Range Sensing for Autonomous Collision Avoidance of a Teleoperated UAV
- An Indoor Testbed System with simulated Range Sensing for Autonomous Collision Avoidance of a Teleoperated UAV
- Park, Sang Yong; Shin, Seong Joo; Kim, Kyoung Dae
- DGIST Authors
- Kim, Kyoung Dae
- Issue Date
- The 13th IeMeK Symposium on Embedded Technology
- In recent years, unmanned aerial vehicle (UAV) systems have been used successfully in many tasks such as search and rescue, remote sensing, mapping, exploration, surveillance, and many other civil and military applications. However, as one may know, it is actually not a trivial task to remote control a UAV safely, especially in a cluttered environment. Hence, autonomous collision avoidance is considered as one of the essential capabilities that UAVs must provide. As an approach toward this object, we proposed a collision avoidance algorithm based on the super-ellipsoidal potential function (SEPF) and evaluated its performance through simulation. In this paper, we present an extension of this work focused on the implementation of an indoor testbed system that integrates a real quadrotor type UAV and a sensor simulation software for obstacle detection.
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- Department of Electrical Engineering and Computer ScienceARC Lab2. Conference Papers
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