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Computer Science > Robotics

arXiv:2108.03863 (cs)
[Submitted on 9 Aug 2021]

Title:Utilizing the RRT*-Algorithm for Collision Avoidance in UAV Photogrammetry Missions

Authors:Lars Killian, Jan Backhaus
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Abstract:This paper presents the application of the Rapidly-exploring Random Tree Star (RRT*) algorithm for multicopter collision avoidance in photogrammetry missions. For better applicability, the presented algorithm redirects the drone onto a predefined mission's path. The experiments are conducted in the simulation software gazebo utilizing a ROS interface to the widely known autopilot software PX4. For obstacle detection, a simulated Intel D435 stereo camera is used. The experiments include two different scenarios, each conducted with two different maximum velocities. The results show that the probabilistic RRT*-algorithm can avoid obstacles successfully and intelligibly even at speeds up to 6 m/s. The main problems persist in the dynamic behavior, the inertia of the multicopter, and the limitations of the sensor technology.
Subjects: Robotics (cs.RO)
Cite as: arXiv:2108.03863 [cs.RO]
  (or arXiv:2108.03863v1 [cs.RO] for this version)
  https://doi.org/10.48550/arXiv.2108.03863

Submission history

From: Jan Backhaus [view email]
[v1] Mon, 9 Aug 2021 08:17:00 UTC (4,007 KB)
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