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http://dx.doi.org/10.20910/JASE.2021.15.1.102

Development of small multi-copter system for indoor collision avoidance flight  

Moon, Jung-Ho (Department of Unmanned Aircraft Systems Engineering, Cheongju University)
Publication Information
Journal of Aerospace System Engineering / v.15, no.1, 2021 , pp. 102-110 More about this Journal
Abstract
Recently, multi-copters equipped with various collision avoidance sensors have been introduced to improve flight stability. LiDAR is used to recognize a three-dimensional position. Multiple cameras and real-time SLAM technology are also used to calculate the relative position to obstacles. A three-dimensional depth sensor with a small process and camera is also used. In this study, a small collision-avoidance multi-copter system capable of in-door flight was developed as a platform for the development of collision avoidance software technology. The multi-copter system was equipped with LiDAR, 3D depth sensor, and small image processing board. Object recognition and collision avoidance functions based on the YOLO algorithm were verified through flight tests. This paper deals with recent trends in drone collision avoidance technology, system design/manufacturing process, and flight test results.
Keywords
UAV; Drone; Collision Avoidance; Obstacle Avoidance; Pixhawk; Multicopter;
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