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http://dx.doi.org/10.9717/kmms.2020.23.8.1088

Obstacle Avoidance Method for UAVs using Polar Grid  

Pant, Sudarshan (Dept. of Multimedia Eng., Graduate School, Mokpo National University)
Lee, Sangdon (Dept. of Multimedia Eng., Mokpo National University)
Publication Information
Journal of Korea Multimedia Society / v.23, no.8, 2020 , pp. 1088-1098 More about this Journal
Abstract
This paper proposes an obstacle avoidance method using a depth polar grid. Depth information is a crucial factor for determining the safe path for collision-free navigation of unmanned aerial vehicles (UAVs) as it can perceive the distance to the obstacles effectively. However, the existing depth-camera-based approaches for obstacle avoidance require computational y expensive path planning algorithms. We propose a simple navigation method using the polar-grid of the depth information obtained from the camera with narrow field-of-view(FOV). The effectiveness of the approach was validated by a series of experiments using software-in-the-loop simulation in a realistic outdoor environment. The experimental results show that the proposed approach successfully avoids obstacles using a single depth camera with limited FOV.
Keywords
Obstacle Avoidance; Polar Grid; Unmanned Aerial Vehicle; Field of View;
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Times Cited By KSCI : 1  (Citation Analysis)
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