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http://dx.doi.org/10.12673/jant.2018.22.6.623

Real-time Obstacle Detection and Avoidance Path Generation Algorithm for UAV  

Ko, Ha-Yoon (School of Electronics and Information Engineering, Korea Aerospace University)
Baek, Joong-Hwan (School of Electronics and Information Engineering, Korea Aerospace University)
Choi, Hyung-Sik (Korea Aerospace Research Institute)
Publication Information
Journal of Advanced Navigation Technology / v.22, no.6, 2018 , pp. 623-629 More about this Journal
Abstract
In this paper, we propose a real-time obstacle detection and avoidance path generation algorithm for UAV. 2-D Lidar is used to detect obstacles, and the detected obstacle data is used to generate real-time histogram for local avoidance path and a 2-D SLAM map used for global avoidance path generation to the target point. The VFH algorithm for local avoidance path generation generates a real-time histogram of how much the obstacles are distributed in the vector direction and distance, and this histogram is used to generate the local avoidance path when detecting near fixed or dynamic obstacles. We propose an algorithm, called modified $RRT^*-Smart$, to overcome existing limitations. That generates global avoidance path to the target point by creating lower costs because nodes are checked whether or not straight path to a target point, and given arbitrary lengths and directionality to the target points when nodes are created. In this paper, we prove the efficient avoidance maneuvering through various simulation experiment environment by creating efficient avoidance paths.
Keywords
UAV; Obstacle avoidance; Path planning; VFH; RRT;
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