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UAV Obstacle Avoidance Scheme Using an Output to Input Saturation Transformation Technique

Chauffaut, Corentin and Defaÿ, François and Burlion, Laurent and De Plinval, Henry UAV Obstacle Avoidance Scheme Using an Output to Input Saturation Transformation Technique. (2016) In: International Conference on Unmanned Aircraft Systems (ICUAS), 2016, 7 June 2016 - 10 June 2016 (Washington, United States).

(Document in English)

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Official URL: http://dx.doi.org/10.1109/ICUAS.2016.7502651


This paper presents a novel obstacle avoidance scheme for UAVs. This scheme is based on the use of a technique recently developed by one of the authors, which is based on a transformation of a variable constraint into an input saturation. In the case of obstacle avoidance, this saturation is designed so as to ensure a safe trajectory around the obstacles, offering a proof of this desired behavior. A low-cost RGB-D sensor has been used to detect obstacles as its output measurements of the environment are effortlessly interpreted even with a low power embedded processor. Experimental results are provided, together with a simulation, to prove the efficiency of the approach.

Item Type:Conference or Workshop Item (UNSPECIFIED)
Additional Information:Thanks to the IEEE (Institute of Electrical and Electronics Engineers). This paper is available at : http://ieeexplore.ieee.org/xpl/mostRecentIssue.jsp?punumber=7497753 “© 2016 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.
HAL Id:hal-01419464
Audience (conference):International conference proceedings
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Institution:Université de Toulouse > Institut Supérieur de l'Aéronautique et de l'Espace - ISAE-SUPAERO (FRANCE)
French research institutions > Office National d'Etudes et Recherches Aérospatiales - ONERA (FRANCE)
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Deposited On:19 Dec 2016 13:54

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