Dynamic obstacle avoidance system for the unmanned aerial vehicle (UAV)
Seno Sahisnu Rawikara, Rianto Adhy Sasongko · IOP Conference Series Materials Science and Engineering · 2021
Abstract This paper presents a method for collision avoidance for moving obstacle based on ellipsoid geometry. Ellipsoid algorithm itself has been implemented in small unmanned aerial vehicle (UAV) for static obstacle avoidance. In extending the algorithm to dynamic object, two adjustments have been made, first is to calculate safe heading and selection of head or tail contact point. Using these two adjustments, the algorithm succesfully generates safe waypoint for dynamic obstacle avoidance and select which direction to use, whether it is to the head or the tail of obstacle moving direction.