Simulation environment for the evaluation and design of reactive obstacle avoidance algorithms in UAS operating in low altitude airspace

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Since UAS operate in a complex and uncertain environment where information is obtained through non-ideal sensors, obstacle avoidance is critical in many missions. However, the performance of avoidance algorithms depends on the type of operating environment, imperfect nature of sensor information and sensitivity of adopted solutions and architectures, which makes evaluation complex. With ongoing research, we establish that previous work on avoidance and reactive control has adequately analyzed neither the performance nor the most important dependencies affecting the system behaviour. We present a simulation framework that reflects the influence of the most vital parameters on the avoidance system. The implications are twofold: providing an evaluation framework for assessing reactive avoidance algorithms and providing a starting point in the design phase.

SprogEngelsk
TitelAdvances in Intelligent Systems and Computing
ForlagSpringer VS
Publikationsdato2018
Sider755-767
DOI
StatusUdgivet - 2018
NavnAdvances in Intelligent Systems and Computing
Vol/bind693
ISSN2194-5357