Obstacle avoidance with a multicopter in a dynamic two-dimensional environment

[摘要] ENGLISH ABSTRACT: In order to allow a multicopter to fly autonomously in a dynamic two-dimensionalenvironment, a prototype obstacle avoidance system was developed. Included in this prototype avoidance system was the development of a two-dimensionalproximity sensor. A combination of obstacle avoidance algorithms (D* Lite and the VFF) were coded in MATLAB and verified through various simulations.Pose and measurement uncertainties were also investigated and incorporated into the simulations' map building technique. In the end, the obstacleavoidance algorithm was successfully implemented in various outdoor test environments, managing to safely navigate the multicopter to its end destination in each case.

[发布机构] Stellenbosch University