A low-cost Obstacle Detection and Collision Avoidance (ODCA) System stimulated from Coulomb’s inverse-square law has been proposed, deployed, and tested on self-assembled multi-rotor system. The algorithm is focused to be inexpensive in terms of spacio-temporal complexities, cross platform, and able to run on low-cost, easily available hardware. It aims at protecting the drone from entering a complex situation in manual and autonomous flight modes. The ODCA system hardware design is focused to be easily integrable with various flight controllers. The hardware and communication interfacing among various modules required by the ODCA system have been briefly explained. Since, proposed ODCA system is tested on self-assembled drone, a small description about drone hardware, assembly, and communication mechanism is also provided. Furthermore, the ODCA system algorithm that processes sensor data in various stages and culminated actions are explained. Finally, the system is tested and evaluated in multi-obstacle scenario through hardware in the loop (HIL) simulation and their findings are shown.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Development of a low-cost Collision Avoidance System based on Coulomb’s inverse-square law for Multi-rotor Drones (UAVs)


    Contributors:


    Publication date :

    2021-12-01


    Size :

    5444522 byte




    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



    Collision Avoidance System for Drones

    Katware, Sakshi S. / Bandgar, Shraddha / Puranik, V. G. | BASE | 2020

    Free access

    Collision Avoidance System for Drones

    Katware, Sakshi S. / Bandgar, Shraddha / Puranik, V. G. | BASE | 2020

    Free access

    DECENTRALIZED COLLISION AVOIDANCE FOR UAVS

    HALL ROBERT J | European Patent Office | 2022

    Free access

    3D Collision Avoidance Scheme for Low-Cost Micro UAVs

    Rubenecia, Areeya / Choi, Myungwhan / Choi, Hyo Hyun | IEEE | 2017


    Decentralized collision avoidance for UAVs

    HALL ROBERT J | European Patent Office | 2021

    Free access