2016 International Conference on Unmanned Aircraft Systems (ICUAS) 2016
DOI: 10.1109/icuas.2016.7502597
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Cushioned extended-periphery avoidance: A reactive obstacle avoidance plugin

Abstract: While collision avoidance and flight stability are generally a micro air vehicle's (MAVs) highest priority, many map-based path planning algorithms focus on path optimality, often assuming a static, known environment. For many MAV applications a robust navigation solution requires responding quickly to obstacles in dynamic, tight environments with nonnegligible disturbances. This article first outlines the Reactive Obstacle Avoidance Plugin framework as a method for leveraging map-based algorithms while provid… Show more

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Cited by 2 publications
(2 citation statements)
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“…The onboard computer uses its current relative state estimate and a path planning algorithm to calculate a trajectory to the current relative goal. We use the reactive obstacle avoidance plugin framework 36 to use the latest sensor information to modify the current trajectory when needed to avoid a pending collision. Control loops are then closed around this modified trajectory to produce desired accelerations.…”
Section: Relative Path Planning and Controlmentioning
confidence: 99%
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“…The onboard computer uses its current relative state estimate and a path planning algorithm to calculate a trajectory to the current relative goal. We use the reactive obstacle avoidance plugin framework 36 to use the latest sensor information to modify the current trajectory when needed to avoid a pending collision. Control loops are then closed around this modified trajectory to produce desired accelerations.…”
Section: Relative Path Planning and Controlmentioning
confidence: 99%
“…These velocity goals are then modified using the cushioned extendedperiphery obstacle avoidance algorithm. 36 An LQR feedback controller is closed around the modified velocity setpoints to produce desired accelerations, which are then passed through the model inversion to produce the roll, pitch, yaw rate, and thrust command that is sent to the autopilot.…”
Section: Relative Path Planning and Controlmentioning
confidence: 99%