Adaptation of Dubins Paths for UAV Ground Obstacle Avoidance When Using a Low Cost On-Board GNSS Sensor

Current research on Unmanned Aerial Vehicles (UAVs) shows a lot of interest in autonomous UAV navigation. This interest is mainly driven by the necessity to meet the rules and restrictions for small UAV flights that are issued by various international and national legal organizations. In order to lo...

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Veröffentlicht in:Sensors (Basel, Switzerland) Jg. 17; H. 10; S. 2223
Hauptverfasser: Kikutis, Ramūnas, Stankūnas, Jonas, Rudinskas, Darius, Masiulionis, Tadas
Format: Journal Article
Sprache:Englisch
Veröffentlicht: Switzerland MDPI AG 28.09.2017
MDPI
Schlagworte:
Dubins paths
GNSS position measurements
ground obstacle avoidance algorithm
position accuracy
UAV navigation
Unmanned aerial vehicles
UAV navigation
ground obstacle avoidance algorithm
GNSS position measurements
position accuracy
Dubins paths
ISSN:1424-8220, 1424-8220
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Zusammenfassung:Current research on Unmanned Aerial Vehicles (UAVs) shows a lot of interest in autonomous UAV navigation. This interest is mainly driven by the necessity to meet the rules and restrictions for small UAV flights that are issued by various international and national legal organizations. In order to lower these restrictions, new levels of automation and flight safety must be reached. In this paper, a new method for ground obstacle avoidance derived by using UAV navigation based on the Dubins paths algorithm is presented. The accuracy of the proposed method has been tested, and research results have been obtained by using Software-in-the-Loop (SITL) simulation and real UAV flights, with the measurements done with a low cost Global Navigation Satellite System (GNSS) sensor. All tests were carried out in a three-dimensional space, but the height accuracy was not assessed. The GNSS navigation data for the ground obstacle avoidance algorithm is evaluated statistically.
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ISSN:1424-8220
1424-8220
DOI:10.3390/s17102223