Obstacle Avoidance System for a Quadrotor UAV
Joseph Wagster, Matthew Rose, Hovig Yaralian, Subodh Bhandari · Infotech@Aerospace 2012 · 2012
This is the summary of the research being done at Cal Poly Pomona at an undergraduate level on the development of obstacle avoidance capability for unmanned aerial vehicles (UAVs). A quadrotor UAV is used as the research platform. Push and Rapidly Exploring Random Tree (RRT) algorithms are used for the obstacle avoidance capability. The paper shows the use of cheaper commercial off-the-shelf sensors and processor board in the design and implementation of obstacle avoidance algorithm. Nomencalture ax = actual forward acceleration (ft/sec 2) ay = actual side acceleration (ft/sec 2) az = actual vertical acceleration (ft/sec 2) g = acceleration due to gravity (ft/sec 2) m p