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http://dx.doi.org/10.20910/JASE.2019.13.3.15

Autonomous Flight System of UAV through Global and Local Path Generation  

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 Aerospace System Engineering / v.13, no.3, 2019 , pp. 15-22 More about this Journal
Abstract
In this paper, a global and local flight path system for autonomous flight of the UAV is proposed. The overall system is based on the ROS robot operating system. The UAV in-built computer detects obstacles through 2-D Lidar and generates real-time local path and global path based on VFH and Modified $RRT^*$-Smart, respectively. Additionally, a movement command is issued based on the generated path on the UAV flight controller. The ground station computer receives the obstacle information and generates a 2-D SLAM map, transmits the destination point to the embedded computer, and manages the state of the UAV. The autonomous UAV flight system of the is verified through a simulator and actual flight.
Keywords
UAV; Autonomous Flight System; Path Planning; Local Path; Global Path;
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Times Cited By KSCI : 1  (Citation Analysis)
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