TY - GEN
T1 - Obstacle detection, tracking and avoidance for a teleoperated UAV
AU - Odelga, Marcin
AU - Stegagno, Paolo
AU - Bulthoff, Heinrich H.
N1 - Publisher Copyright:
© 2016 IEEE.
PY - 2016/6/8
Y1 - 2016/6/8
N2 - In this paper, we present a collision-free indoor navigation algorithm for teleoperated multirotor Unmanned Aerial Vehicles (UAVs). Assuming an obstacle rich environment, the algorithm keeps track of detected obstacles in the local surroundings of the robot. The detection part of the algorithm is based on measurements from an RGB-D camera and a Bin-Occupancy filter capable of tracking an unspecified number of targets. We use the estimate of the robot's velocity to update the obstacles state when they leave the direct field of view of the sensor. The avoidance part of the algorithm is based on the Model Predictive Control approach. By predicting the possible future obstacles states, it filters the operator commands to prevent collisions. The method is validated on a platform equipped with its own computational unit, which makes it self-sufficient in terms of external CPUs.
AB - In this paper, we present a collision-free indoor navigation algorithm for teleoperated multirotor Unmanned Aerial Vehicles (UAVs). Assuming an obstacle rich environment, the algorithm keeps track of detected obstacles in the local surroundings of the robot. The detection part of the algorithm is based on measurements from an RGB-D camera and a Bin-Occupancy filter capable of tracking an unspecified number of targets. We use the estimate of the robot's velocity to update the obstacles state when they leave the direct field of view of the sensor. The avoidance part of the algorithm is based on the Model Predictive Control approach. By predicting the possible future obstacles states, it filters the operator commands to prevent collisions. The method is validated on a platform equipped with its own computational unit, which makes it self-sufficient in terms of external CPUs.
UR - http://www.scopus.com/inward/record.url?scp=84977594490&partnerID=8YFLogxK
U2 - 10.1109/ICRA.2016.7487464
DO - 10.1109/ICRA.2016.7487464
M3 - Conference contribution
AN - SCOPUS:84977594490
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 2984
EP - 2990
BT - 2016 IEEE International Conference on Robotics and Automation, ICRA 2016
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2016 IEEE International Conference on Robotics and Automation, ICRA 2016
Y2 - 16 May 2016 through 21 May 2016
ER -