A Real-time Relative Navigation Capability for Multi-copter Collision Avoidance
Maarten Kastelein, Russell V. Gilabert, Adam Schultz, Akshay Bharadwaj, Kyle Shiflett, Maarten Uijt de Haag · Proceedings of the Institute of Navigation ... International Technical Meeting/Proceedings of the ... International Technical Meeting of The Institute of Navigation · 2016
Multiple multi-copter data collection platforms have been developed and have been equipped with GNSS, inertial sensors and appropriate communication links. All relative navigation and initial collision avoidance algorithms have been implemented in the Robotic Operating Systems (ROS) on an onboard-embedded processor. This paper outlines the underlying methodology, the platform hardware components (two multi-copters and one ground vehicle), and analyzes and discusses the UAS flight data results recorded for different relative navigation and collision avoidance geometries.