ICUAS 2020 Paper Abstract


Paper ThA1.6

Moffatt, Andrew (California State Polytechnic University Pomona), Platt, Eric (California State Polytechnic University Pomona), Mondragon, Brandon (California State Polytechnic University Pomona), Kwok, Aaron (Cal Poly Pomona), Uryeu, Dzianis (Walnut High School), Bhandari, Subodh (California State Polytechnic University)

Obstacle Detection and Avoidance System for Small UAVs Using a LiDAR

Scheduled for presentation during the Regular Session "See and Avoid Systems I" (ThA1), Thursday, September 3, 2020, 11:40−12:00, Macedonia Hall

2020 International Conference on Unmanned Aircraft Systems (ICUAS), September 1-4, 2020 (Postponed from June 9-12, 2020), Athens, Greece

This information is tentative and subject to change. Compiled on September 25, 2020

Keywords See-and-avoid Systems, Path Planning, Autonomy


This paper presents the obstacle detection and avoidance system for a multicopter UAV. A Velodyne VLP-16 LiDAR is used for obstacle detection. The LiDAR generates a 360 view of the environment around the multicopter, enabling the multicopter to navigate around any obstacles in any direction. An Intel NUC processor is used as an onboard flight computer, which processes the LiDAR data and obstacle avoidance algorithm. The flight computer communicates with the flight controller (Pixhawk2 autopilot) using a Python library called DroneKit to send the obstacle avoidance commands. This results in the multicopter safely navigating around obstacles autonomously. Simulation and ground test results are shown.



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