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http://dx.doi.org/10.5139/JKSAS.2016.44.7.611

Development of Collision Prevention System for Agricultural Unmanned Helicopter  

Jeong, Junho (Department of Aerospace Engineering, Chungnam National University)
Gim, Hakseong (Department of Aerospace Engineering, Chungnam National University)
Lee, Dongwoo (Hanwha Co.)
Suk, Jinyoung (Department of Aerospace Engineering, Chungnam National University)
Kim, Seungkeun (Department of Aerospace Engineering, Chungnam National University)
Kim, Jingu (Poongsan Co.)
Ryu, Si-dae (DBRAIN Co.)
Kim, Sungnam (Sungwoo Engineering Co.)
Publication Information
Journal of the Korean Society for Aeronautical & Space Sciences / v.44, no.7, 2016 , pp. 611-619 More about this Journal
Abstract
This paper proposes a collision prevention system for an agricultural unmanned helicopter. The collision prevention system consists of an obstacle detection system, a mapping algorithm, and a collision avoidance algorithm. The obstacle detection system based on a LiDAR sensor is implemented in the unmanned helicopter and acquires distance information of obstacles in real-time. Then, an obstacle mapping is carried out by combining the distance to the obstacles with attitude/location data of the unmanned helicopter. In order to prevent a collision, alert is activated to an operator based on the map when the vehicle approaches to the obstacles. Moreover, the developed collision prevention system is verified through flight test simulating a flight pattern aerial spraying.
Keywords
Collision Prevention System; LiDAR Sensor; Agricultural Unmanned Helicopter; Flight Test; Collision Avoidance;
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Times Cited By KSCI : 5  (Citation Analysis)
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