Obstacle Avoidance Technology Based on Collision Cone for UAV FastSLAM
Zeng-Xiang Yang, Xibin Wang, Weichao Si · 2016
To solve the obstacle avoidance problem when UAV is implementing SLAM, a collision cone is built using obstacle avoidance strategy based on collision cone.By ascertaining whether the velocity direction of UAV motion is within the cone, the occasion of UAV obstacle avoidance is judged.This algorithm is simulated and tested based on two dimension built motion model of UAV.The result shows that this algorithm not only complishes SLAM, estimating the position of UAV and obstacles, but also achieving better obstacle avoidance effects.