Research on Obstacle Avoidance Algorithm for Four-rotor UAV
Abstract
UAV is a kind of aircraft which can be operated remotely, fly independently and carry out different tasks with special equipment on board. With the civilian application of UAV becoming more and more extensive, the application scene is becoming more and more complex. Obstacle avoidance technology has become a difficult problem in widening this field and is also the cornerstone of UAV development on a large scale. As the four-rotor UAV has the advantages of high flexibility, relatively simple control, vertical take-off and landing and low maintenance cost, in this paper, a four-rotor UAV with lidar and binocular vision camera is used to realize the obstacle avoidance function by using the artificial potential field method. The feasibility of the method is verified by simulation.
- Publication:
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Journal of Physics Conference Series
- Pub Date:
- July 2018
- DOI:
- 10.1088/1742-6596/1061/1/012016
- Bibcode:
- 2018JPhCS1061a2016L