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An Automatic Collision Avoidance System for Drone using a LiDAR sensor  

Chong, Ui-Pil (School of IT Convergence, University of Ulsan)
An, Woo-Jin (School of IT Convergence, University of Ulsan)
Kim, Yearn-Min (School of Industrial Management Engineering, University of Ulsan)
Lee, Jung-Chul (School of IT Convergence, University of Ulsan)
Publication Information
Journal of the Institute of Convergence Signal Processing / v.19, no.2, 2018 , pp. 54-60 More about this Journal
Abstract
In this paper, we propose an efficient automatic control method for the collision avoidance of drones. In general, the drones are controlled by transmitting to the flight control (FC) module the received PWM signals transmitted from a RC controller which transduce movements of the knob into PWM signal. We implemented the collision avoidance module in-between receiver and FC module to monitor and change the throttle, pitch and roll control signals to avoid drone collision. In order to avoid the collision, a LiDAR distance sensor and a servo-motor are installed and periodically measure the obstacle distance within -45 degrees from 45 degrees in flight direction. If the collision is predicted, the received PWM signal is changed and transmitted to the FC module to prevent the collision. We applied our proposed method to a hexacopter and the experimental results show that the safety is improved because it can prevent the collision caused by the inadvertency or inexperienced maneuver.
Keywords
Drone; Collision avoidance; LiDAR sensor; RC control; PWM;
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