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Safe & Sound: A Robust Collision Avoidance Layer for Aerial Robots Based on Acoustic Sensors

Müller, Joachim and Viseras Ruiz, Alberto and Wieser, Iris (2014) Safe & Sound: A Robust Collision Avoidance Layer for Aerial Robots Based on Acoustic Sensors. In: Proceedings of the 2014 IEEE/ION Position, Location and Navigation Symposium, pp. 1197-1202. IEEE. IEEE/ION PLANS 2014, 5.-8. Mai 2014, Monterey, CA, USA. ISBN 978-1-4799-3320-4.

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Abstract

In this work, we propose a novel intermediate control layer for obstacle avoidance and drift suppression. It runs in between high level software layers responsible for environment mapping and path planning and low level software ensuring stable and level flight. This allows more complex algorithms with longer computation intervals for higher-level tasks. By modularizing the robot control, we also enable the reuse of our obstacle avoidance layer for different high-layer algorithms. The feasibility of separation in software will be shown, leading the way for a potential physical separation with dedicated hardware later on. A prototypical implementation of the intermediate layer using ultrasonic sensors was built. We demonstrate the feasibility of the chosen sensor concept in presence of propeller noise. The control concept is kept on a level that can be implemented on onboard processors - this does also include the communication with the sensors. Experimental results with this first implemented prototype are presented and discussed. We analyze the ranging capabilities of the ultrasonic sensor and validate its applicability in obstacle avoidance tasks.

Item URL in elib:https://elib.dlr.de/88549/
Document Type:Conference or Workshop Item (Speech)
Title:Safe & Sound: A Robust Collision Avoidance Layer for Aerial Robots Based on Acoustic Sensors
Authors:
AuthorsInstitution or Email of AuthorsAuthor's ORCID iD
Müller, JoachimUNSPECIFIEDUNSPECIFIED
Viseras Ruiz, AlbertoUNSPECIFIEDUNSPECIFIED
Wieser, IrisUNSPECIFIEDUNSPECIFIED
Date:2014
Journal or Publication Title:Proceedings of the 2014 IEEE/ION Position, Location and Navigation Symposium
Refereed publication:Yes
Open Access:No
Gold Open Access:No
In SCOPUS:No
In ISI Web of Science:No
Page Range:pp. 1197-1202
Publisher:IEEE
ISBN:978-1-4799-3320-4
Status:Published
Keywords:Obstacle Avoidance, Ultrasonic Sensor, UAV, Quadrotor, Layer Concept, Nested Control Loops, Kalman Filter
Event Title:IEEE/ION PLANS 2014
Event Location:Monterey, CA, USA
Event Type:international Conference
Event Dates:5.-8. Mai 2014
Organizer:IEEE/ION
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Transport
HGF - Program Themes:Traffic Management (old)
DLR - Research area:Transport
DLR - Program:V VM - Verkehrsmanagement
DLR - Research theme (Project):V - Vabene++ (old), R - Project Dependable Navigation (old)
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Communication and Navigation > Communications Systems
Deposited By: Müller, Joachim
Deposited On:17 Jul 2014 09:58
Last Modified:07 Jul 2015 08:04

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