Optimized autonomous UAV design with obstacle avoidance capability

Jun Jet Tai, Swee King Phang, Yen Myan Felicia Wong

Research output: Chapter in Book/Report/Conference proceedingConference proceedingpeer-review

2 Citations (Scopus)

Abstract

Obstacle Avoidance and Navigation (OAN) algorithms are an active research field dominated by either offline or online methods. The former method is fast but requires a prior known map while the latter method can function without a prior known map at the expense of high computational requirements. To bring OAN algorithm to mass produced mobile robots, more precisely multirotor Unmanned Aerial Vehicles (UAVs), the computational requirement of robust algorithms must be brought low enough such that the computation can be done on an onboard companion computer, while being able to operate without prior knowledge of the map. This article introduces a novel OAN algorithm-dubbed the Closest Obstacle Avoidance and A∗ Algorithm (COAA*)-that bridges the capabilities of current offline and online OAN algorithms. The proposed algorithm takes into account the UAV performance limits, and is very easy to calibrate and incorporate for many other classes of mobile robots. The main contributions of this research work are that COAA∗ has guaranteed convergence to a global minimum for the navigational trajectory, while being very computationally lightweight due to its first principles formulation.

Original languageEnglish
Title of host publication13th International Engineering Research Conference, EURECA 2019
EditorsSwee King Phang, Ghafour Amouzad Mahdiraji, Chockalingam Aravind Vaithilingam
PublisherAmerican Institute of Physics Inc.
Number of pages12
ISBN (Electronic)9780735419926
DOIs
Publication statusPublished - 5 May 2020
Externally publishedYes
Event13th International Engineering Research Conference, EURECA 2019 - Selangor Darul Ehsan, Malaysia
Duration: 27 Nov 2019 → …

Publication series

NameAIP Conference Proceedings
Volume2233
ISSN (Print)0094-243X
ISSN (Electronic)1551-7616

Conference

Conference13th International Engineering Research Conference, EURECA 2019
Abbreviated titleEURECA 2019
Country/TerritoryMalaysia
CitySelangor Darul Ehsan
Period27/11/19 → …

Bibliographical note

Funding Information:
This research is done with the support of Taylor's Internal Research Grant Scheme-Emerging Research Funding Scheme (TiGRS/ERFS/2/2018/SOE/004).

Publisher Copyright:
© 2020 Author(s).

ASJC Scopus subject areas

  • Physics and Astronomy(all)

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