ICUAS 2021 Paper Abstract

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Paper FrA3.4

Allasia, Giancarlo (Politecnico di Torino), Rizzo, Alessandro (Politecnico di Torino), Valavanis, Kimon P. (University of Denver)

Quadrotor UAV 3D Path Planning with Optical-Flow-Based Obstacle Avoidance

Scheduled for presentation during the Regular Session "Path Planning VI" (FrA3), Friday, June 18, 2021, 10:00−10:20, Edessa

2021 International Conference on Unmanned Aircraft Systems (ICUAS), June 15-18, 2021, Athens, Greece

This information is tentative and subject to change. Compiled on March 29, 2024

Keywords Path Planning, UAS Applications, UAS Testbeds

Abstract

A real-time waypoint-based 3D local path planning algorithm is proposed for obstacle avoidance using the optical flow obtained by a frontal monocular camera mounted on a quadrotor UAV. The algorithm accounts for vertical and horizontal obstacle avoidance, as well as for avoidance of frontally approaching obstacles. Implementation and testing are carried out in the ROS environment and the algorithm effectiveness is demonstrated via Gazebo simulations. Real-time algorithm performance is also assessed through software profiling and in terms of worst case execution time using the NVIDIA Jetson TX1 and RaspberryPi 4 for hardware-in-the-loop (HIL) tests.

 

 

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