Laser-based Collision Avoidance and Reactive Navigation using RRT* and Signed Distance Field for Multirotor UAVs

Lu, Liang and Sampedro Pérez, Carlos and Rodríguez-Vázquez, Javier and Campoy Cervera, Pascual (2019). Laser-based Collision Avoidance and Reactive Navigation using RRT* and Signed Distance Field for Multirotor UAVs. In: "ICUAS'19 The 2019 International Conference on Unmanned Aircraft Systems", 11-14 Jun 2019, Atlanta, USA. ISBN 978-1-7281-0332-7. pp. 1209-1217. https://doi.org/10.1109/ICUAS.2019.8798124.

Description

Title: Laser-based Collision Avoidance and Reactive Navigation using RRT* and Signed Distance Field for Multirotor UAVs
Author/s:
  • Lu, Liang
  • Sampedro Pérez, Carlos
  • Rodríguez-Vázquez, Javier
  • Campoy Cervera, Pascual
Item Type: Presentation at Congress or Conference (Article)
Event Title: ICUAS'19 The 2019 International Conference on Unmanned Aircraft Systems
Event Dates: 11-14 Jun 2019
Event Location: Atlanta, USA
Title of Book: 2019 International Conference on Unmanned Aircraft Systems (ICUAS)
Date: 2019
ISBN: 978-1-7281-0332-7
Subjects:
Faculty: E.T.S.I. Industriales (UPM)
Department: Automática, Ingeniería Eléctrica y Electrónica e Informática Industrial
Creative Commons Licenses: Recognition - No derivative works - Non commercial

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Abstract

Collision avoidance plays a crucial role for autonomous navigation in unknown dynamic environments and still remains an ongoing research problem. In this paper, we present a new collision avoidance algorithm by combining an RRT* path planner with a Signed Distance Field (SDF) based collision checking algorithm, in which the trajectory is optimized by a short cut and Optimal Polynomial Trajectory algorithms. The proposed algorithm is integrated to work in combination with a Model Predictive Control (MPC) based trajectory controller in order to provide a complete system for reactive navigation purposes. A thorough evaluation of the proposed algorithm has been conducted in several simulating scenarios using RotorS Gazebo simulator, showing fast collision checking capabilities in the presence of static and dynamic obstacles. The results show that the proposed algorithm outperforms in 76.93% considering the processing time when tested in a 1000 × 1000 pixels map. The results also demonstrate that the proposed navigation algorithm allows the safe navigation of a multirotor Unmanned Aerial Vehicle (UAV).

More information

Item ID: 64574
DC Identifier: http://oa.upm.es/64574/
OAI Identifier: oai:oa.upm.es:64574
DOI: 10.1109/ICUAS.2019.8798124
Official URL: http://uasconferences.com/2019_icuas/index.php
Deposited by: Memoria Investigacion
Deposited on: 30 Oct 2020 13:48
Last Modified: 30 Oct 2020 13:48
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