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Cellular Communication-Based Autonomous UAV Navigation with Obstacle Avoidance for Unknown Indoor Environments

Yeon Choi, Kumoh National Institute of Technology, I Ramatryana, Soo Shin, Kumoh National Institute of Technology, Kumoh National Institute of Technology
2021 International Journal of Intelligent Engineering and Systems  
We have proposed that autonomous UAV navigation system for unknown environment like indoor. This system relies on the combination of ROS-based Hector SLAM systems, 2D-LiDAR sensor and LTE connection.  ...  In this paper, a cellular communication-based autonomous UAV Navigation is proposed that enables UAVs to maneuver independently in previously unknown and GPS-denied indoor environments with LiDAR sensors  ...  In other methods, the map is learned from a manual path and quadcopters fly along the same path [19] .  ... 
doi:10.22266/ijies2021.0430.31 fatcat:msikkxxtxfbvbaxxkchqrdmhdy

Designing and Testing a UAV Mapping System for Agricultural Field Surveying

Martin Christiansen, Morten Laursen, Rasmus Jørgensen, Søren Skovsen, René Gislum
2017 Sensors  
A Light Detection and Ranging (LiDAR) sensor mounted on an Unmanned Aerial Vehicle (UAV) can map the overflown environment in point clouds.  ...  The proposed method facilitates LiDAR recordings in an experimental winter wheat field.  ...  The main difference between the plans is that the UAV moved along the borders of the crop parcels on Path A and along the crop rows on Path B.  ... 
doi:10.3390/s17122703 pmid:29168783 pmcid:PMC5751509 fatcat:edvosgm3kjhgpl6bvb32pkk3re

Bridge Inspection Using Unmanned Aerial Vehicle Based on HG-SLAM: Hierarchical Graph-Based SLAM

Sungwook Jung, Duckyu Choi, Seungwon Song, Hyun Myung
2020 Remote Sensing  
The feasibility of the proposed method was verified on two different types of bridges: on the ground and offshore.  ...  Due to the harsh environment involved and the corresponding limitations on GPS usage, a graph-based SLAM approach using a tilted 3D LiDAR (Light Detection and Ranging) and a monocular camera to localize  ...  In addition, methods for online structural inspection permitting on-the-fly detection of bridge defects will be developed as the final step of our framework (Figure 1 ).  ... 
doi:10.3390/rs12183022 fatcat:haygmphhafe2vf7aycwyvqvg5a

Avoiding dynamic small obstacles with onboard sensing and computating on aerial robots [article]

Fanze Kong, Wei Xu, Fu Zhang
2021 arXiv   pre-print
Specifically, the computer estimates the current pose of the UAV, maintains a local map (time-accumulated point clouds KD-Trees), and computes a safe trajectory using kinodynamic A* search to the goal  ...  The whole perception and planning system can run onboard at 50Hz with careful optimization.  ...  Nanomap [11] even achieved 10m/s velocity flight in forests considering the pose uncertainty. Besides vision-based UAV, there are also many works on lidar-based UAV. Liu et al.  ... 
arXiv:2103.00406v1 fatcat:b7jlf5kzkzdolk5t4lsc3duedq

Unmanned Aerial Vehicles (UAVs): Collision Avoidance Systems and Approaches

Jawad N. Yasin, Sherif A.S. Mohamed, Mohammad-Hashem Haghbayan, Jukka Heikkonen, Hannu Tenhunen, Juha Plosila
2020 IEEE Access  
This also includes a discussion on the use of different types of sensors for collision avoidance in the context of UAVs.  ...  The paper provides a comprehensive review of collision avoidance strategies used for unmanned vehicles, with the main emphasis on unmanned aerial vehicles (UAV).  ...  The tenth metric is pre-mission path planning: Sense&avoid and geometric methods do not require pre-mission path planning.In geometric methods path planning is done based on the collision cone and the  ... 
doi:10.1109/access.2020.3000064 fatcat:qfhbs33wznchxdpea4ijozyryy

Survey on path and view planning for UAVs

Xiaohui Zhou, Zimu Yi, Yilin Liu, Kai Huang, Hui Huang
2020 Virtual Reality & Intelligent Hardware  
In such applications, one key issue is path and view planning, which tells UAVs exactly where to fly and how to search.  ...  Methods With specific consideration for three popular UAV applications (scene reconstruction, environment exploration, and aerial cinematography), we present a survey that should assist researchers in  ...  Planning: path generation based on a given map. These four technologies also illustrate the challenges of UAV exploration.  ... 
doi:10.1016/j.vrih.2019.12.004 fatcat:fsqldvofdba7lez2vab4tzvaf4

Collision avoidance for safe structure inspection with multirotor UAV

F. Azevedo, A. Oliveira, A. Dias, J. Almeida, M. Moreira, T. Santos, A. Ferreira, A. Martins, E. Silva
2017 2017 European Conference on Mobile Robots (ECMR)  
One of the application scenarios is the inspection of structures where the human intervention is difficult or unsafe and the UAV can provide an improvement of the collected data.  ...  In order to overcome these issues, this paper presents a LiDAR-based realtime collision avoidance algorithm, denoted by Escape Elliptical Search Point with the ability to be integrated into autonomous  ...  Based on the work developed by [1] for rotorcraft UAVs and the evaluation performed of the advantages of LiDAR solutions [2] for obstacle avoidance, we propose to extend the method with a reactive  ... 
doi:10.1109/ecmr.2017.8098719 dblp:conf/ecmr/AzevedoODAMSFMS17 fatcat:wxmusf2sgnblngjio45xnlfwfy

A Mobility Model Based on Improved Artificial Potential Fields for Swarms of UAVs

Ema Falomir, Serge Chaumette, Gilles Guerrini
2018 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)  
Our contribution presented in this paper is a mobility model for swarms of UAVs based on the Artificial Potential Fields (APF) principle.  ...  By doing so, a UAV which is not close enough to an obstacle to detect it thanks to its own sensors will still have the proper data to take this obstacle into account in its path planning.  ...  Path planning for UVs based on APFs The APF method introduced by Khatib [16] has numerous successors today.  ... 
doi:10.1109/iros.2018.8593738 dblp:conf/iros/FalomirCG18 fatcat:sqbori3g3rde3ewy7ntumn5txa

Representing Autonomous Systems' Self-Confidence through Competency Boundaries

Andrew R. Hutchins, M. L. Cummings, Mark Draper, Thomas Hughes
2015 Proceedings of the Human Factors and Ergonomics Society Annual Meeting  
LIDAR and GPS were examined for scenarios where sensed surroundings could be inaccurate, while discrete and probabilistic algorithms were surveyed for situations that could result in path planning uncertainty  ...  A method for determining the self-confidence of autonomous systems is proposed to assist operators in understanding the state of unmanned vehicles under control.  ...  ACKNOWLEDGEMENTS The work presented was supported by the Air Force Research Lab (AFRL) and Infoscitex Corporation.  ... 
doi:10.1177/1541931215591057 fatcat:j6zd5bokkjfzffg6gtsfnyzxby

UAV Workflow Optimization for the Acquisition of High-Quality Photogrammetric Point Clouds in Forestry

Stuart Krause, Fabian Hartmann, Jan-Peter Mund
2016 GI_FORUM - Journal for Geographic Information Science  
In particular, the use of image-based point clouds to enhance and update LiDAR DSMs is of growing interest in forest environments, i.e. as a future forest inventory method.  ...  Due to constraints regarding power capacity and fair weather windows, we came to develop an effective image acquisition workflow with an emphasis on precision flight planning.  ...  on the UAV-based "Black Box" flight plan generation applications which are incorporated into currently available UAV flight-planning software.  ... 
doi:10.1553/giscience2016_01_s72 fatcat:wbqm56rwbrahzd3raqwowxedty

A State-of-the-Art Analysis of Obstacle Avoidance Methods from the Perspective of an Agricultural Sprayer UAV's Operation Scenario

Shibbir Ahmed, Baijing Qiu, Fiaz Ahmad, Chun-Wei Kong, Huang Xin
2021 Agronomy  
In this regard, this article seeks to review the most relevant developments on all correlated branches of the obstacle avoidance scenarios for agricultural sprayer UAVs, including a UAV sprayer's structural  ...  Moreover, because of the objective and operational difference between general UAVs and sprayer UAVs, not every obstacle detection and collision avoidance method will be sufficient for sprayer UAVs.  ...  But because the sprayer UAV operated based on waypoints, the avoidance may search the next waypoint as the target and change the coverage path line.  ... 
doi:10.3390/agronomy11061069 fatcat:ycb4qs4vqrcbdp6jlda2ifatmq

GATSBI: An Online GTSP-Based Algorithm for Targeted Surface Bridge Inspection [article]

Harnaik Dhami, Kevin Yu, Eric Bianchi, Mihil Sreenilayam, Kartik Madhira, Matthew Hebdon, Pratap Tokekar
2022 arXiv   pre-print
Our planner, termed GATSBI, plans in an online fashion a path to inspect all points on the surface of the bridge.  ...  We equipped the UAV with a 3D LiDAR and RGB camera to build a semantic map of the environment.  ...  Then, one amongst these paths is selected based on a criterion that values how much information a path gains about the environment.  ... 
arXiv:2012.04803v2 fatcat:pe5j6filazf6lnidsnvli747em

Path Following and Obstacle Avoidance for Unmanned Aerial Vehicles Using a Virtual-Force-Based Guidance Law

Xun Wang, Libing Cai, Longxing Kong, Binfeng Wang, Shaohua Huang, Chengdi Lin
2021 Applied Sciences  
This paper presents a virtual-force-based guidance law (VFGL) for path following and obstacle avoidance in unmanned aerial vehicles.  ...  Secondly, an additional virtual centripetal force is designed to counteract the influence of the curvature of the planned path so that the guidance law can accurately track a curve with a time-varying  ...  Data Availability Statement: Simulation data are available from the corresponding author, Xun Wang, upon request. Conflicts of Interest: The authors declare no conflict of interest.  ... 
doi:10.3390/app11104618 fatcat:6ezex6zptrhvjoobymet3bwy6i

Comparison of Airborne Laser Scanning of Low and High Above Ground Level for Selected Infrastructure Objects

J. Siwiec
2018 Journal of Applied Engineering Sciences  
The aim of the research is to check the accuracy of data obtained using the new technology of UAV scanning and to compare them with one that is widely spread - high-altitude airborne Lidar, in terms of  ...  The study shows that UAV mounted scanning may be used in the same applications as Airborne Lidar, as well as in other tasks requiring greater precision.  ...  ACKNOWLEDGEMENTS AND APPENDIX Special thanks to the Lidar3d Company for providing UAV system to conduct a survey.  ... 
doi:10.2478/jaes-2018-0023 fatcat:p5bpf2v3pvb2lcct3os6vwddbm

View Planning and Navigation Algorithms for Autonomous Bridge Inspection with UAVs [article]

Kevin Yu, Prajwal Shanthakumar, Jonah Orevillo, Eric Bianchi, Matthew Hebdon, Pratap Tokekar
2019 arXiv   pre-print
Lastly, we implement a planner to calculate the path along that box girder bridge that will minimize the flight time of the UAV.  ...  The local navigation routines use two 2D Lidars for girder and column flight.  ...  A few of the mentioned works look at planning paths for the UAV for infrastructure inspection. Scherer and Yoder [6] plan paths incrementally along arbitrary structures.  ... 
arXiv:1910.02786v1 fatcat:2bz6bbiwm5gq7g4affu4ocukzy
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