An integrated top-down approach to 3d obstacle avoidance for unmanned aerial vehicles

M. Stewart Geyer, Eric N. Johnson

Research output: Chapter in Book/Report/Conference proceedingConference contribution

6 Scopus citations

Abstract

Much research has been conducted towards the development of fully autonomous unmanned aerial vehicles (UAVs) capable of completing high level mission goals with minimal human interaction. More recently, there is a growing trend to use autonomous systems for smaller-scale missions in urban settings or otherwise tightly constrained environments. For such scenarios, the vehicle must be capable of reliably and accurately performing a variety of complex mission tasks in the absence of a human operator. It follows that robust and efficient obstacle detection and avoidance is a fundamental prerequisite to performing autonomous navigation in an unknown environment. This paper builds upon previous obstacle avoidance work where a pan/tilt-mounted single beam laser rangefinder was validated as an effective means of identifying and characterizing potential obstacles. More specifically, this paper addresses some deficiencies of previously proposed avoidance methodologies by taking a simplified and computationally efficient approach to generating avoidance trajectories. Finally, in order to validate the proposed obstacle detection and avoidance methodology, simulation results and flight test results using the Georgia Tech GTMax UAV helicopter are presented.

Original languageEnglish (US)
Title of host publicationCollection of Technical Papers - AIAA Guidance, Navigation, and Control Conference 2007
Pages4834-4842
Number of pages9
StatePublished - Dec 24 2007
EventAIAA Guidance, Navigation, and Control Conference 2007 - Hilton Head, SC, United States
Duration: Aug 20 2007Aug 23 2007

Publication series

NameCollection of Technical Papers - AIAA Guidance, Navigation, and Control Conference 2007
Volume5

Other

OtherAIAA Guidance, Navigation, and Control Conference 2007
CountryUnited States
CityHilton Head, SC
Period8/20/078/23/07

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All Science Journal Classification (ASJC) codes

  • Aerospace Engineering
  • Control and Systems Engineering
  • Electrical and Electronic Engineering

Cite this

Geyer, M. S., & Johnson, E. N. (2007). An integrated top-down approach to 3d obstacle avoidance for unmanned aerial vehicles. In Collection of Technical Papers - AIAA Guidance, Navigation, and Control Conference 2007 (pp. 4834-4842). (Collection of Technical Papers - AIAA Guidance, Navigation, and Control Conference 2007; Vol. 5).