Endre søk
RefereraExporteraLink to record
Permanent link

Direct link
Referera
Referensformat
  • apa
  • harvard1
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Annet format
Fler format
Språk
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Annet språk
Fler språk
Utmatningsformat
  • html
  • text
  • asciidoc
  • rtf
The Obstacle-restriction Method for Tele-operation of Unmanned Aerial Vehicles with Restricted Motion
KTH, Skolan för elektroteknik och datavetenskap (EECS), Centra, Centrum för autonoma system, CAS.
KTH, Skolan för elektroteknik och datavetenskap (EECS), Centra, Centrum för autonoma system, CAS.ORCID-id: 0000-0002-1170-7162
2018 (engelsk)Inngår i: 2018 15TH INTERNATIONAL CONFERENCE ON CONTROL, AUTOMATION, ROBOTICS AND VISION (ICARCV), IEEE , 2018, s. 266-273Konferansepaper, Publicerat paper (Fagfellevurdert)
Abstract [en]

This paper presents a collision avoidance method for tele-operated unmanned aerial vehicles (UAVs). The method is designed to assist the operator at all times, such that the operator can focus solely on the main objectives instead of avoiding obstacles. We restrict the altitude to be fixed in a three dimensional environment to simplify the control and operation of the UAV. The method contributes a number of desired properties not found in other collision avoidance systems for tele-operated UAVs. Our method i) can handle situations where there is no input from the user by actively stopping and proceeding to avoid obstacles, ii) allows the operator to slide between prioritizing staying away from objects and getting close to them in a safe way when so required, and iii) provides for intuitive control by not deviating too far from the control input of the operator. We demonstrate the effectiveness of the method in real world experiments with a physical hexacopter in different indoor scenarios. We also present simulation results where we compare controlling the UAV with and without our method activated.

sted, utgiver, år, opplag, sider
IEEE , 2018. s. 266-273
Serie
International Conference on Control Automation Robotics and Vision, ISSN 2474-2953
HSV kategori
Identifikatorer
URN: urn:nbn:se:kth:diva-246315ISI: 000459847700046ISBN: 978-1-5386-9582-1 (tryckt)OAI: oai:DiVA.org:kth-246315DiVA, id: diva2:1297311
Konferanse
15th International Conference on Control, Automation, Robotics and Vision (ICARCV), NOV 18-21, 2018, Singapore, SINGAPORE
Merknad

QC 20190319

Tilgjengelig fra: 2019-03-19 Laget: 2019-03-19 Sist oppdatert: 2019-05-13bibliografisk kontrollert

Open Access i DiVA

Fulltekst mangler i DiVA

Personposter BETA

Duberg, DanielJensfelt, Patric

Søk i DiVA

Av forfatter/redaktør
Duberg, DanielJensfelt, Patric
Av organisasjonen

Søk utenfor DiVA

GoogleGoogle Scholar

isbn
urn-nbn

Altmetric

isbn
urn-nbn
Totalt: 124 treff
RefereraExporteraLink to record
Permanent link

Direct link
Referera
Referensformat
  • apa
  • harvard1
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Annet format
Fler format
Språk
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Annet språk
Fler språk
Utmatningsformat
  • html
  • text
  • asciidoc
  • rtf