Ändra sökning
RefereraExporteraLänk till posten
Permanent länk

Direktlänk
Referera
Referensformat
  • apa
  • harvard1
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Annat format
Fler format
Språk
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Annat 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 (Engelska)Ingår i: 2018 15TH INTERNATIONAL CONFERENCE ON CONTROL, AUTOMATION, ROBOTICS AND VISION (ICARCV), IEEE , 2018, s. 266-273Konferensbidrag, Publicerat paper (Refereegranskat)
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.

Ort, förlag, år, upplaga, sidor
IEEE , 2018. s. 266-273
Serie
International Conference on Control Automation Robotics and Vision, ISSN 2474-2953
Nationell ämneskategori
Datorseende och robotik (autonoma system)
Identifikatorer
URN: urn:nbn:se:kth:diva-246315ISI: 000459847700046ISBN: 978-1-5386-9582-1 (tryckt)OAI: oai:DiVA.org:kth-246315DiVA, id: diva2:1297311
Konferens
15th International Conference on Control, Automation, Robotics and Vision (ICARCV), NOV 18-21, 2018, Singapore, SINGAPORE
Anmärkning

QC 20190319

Tillgänglig från: 2019-03-19 Skapad: 2019-03-19 Senast uppdaterad: 2019-05-13Bibliografiskt granskad

Open Access i DiVA

Fulltext saknas i DiVA

Personposter BETA

Duberg, DanielJensfelt, Patric

Sök vidare i DiVA

Av författaren/redaktören
Duberg, DanielJensfelt, Patric
Av organisationen
Centrum för autonoma system, CAS
Datorseende och robotik (autonoma system)

Sök vidare utanför DiVA

GoogleGoogle Scholar

isbn
urn-nbn

Altmetricpoäng

isbn
urn-nbn
Totalt: 165 träffar
RefereraExporteraLänk till posten
Permanent länk

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