Autonomous Navigation for Micro-Air Vehicles Using Reciprocal Velocity Obstacles
Public Deposited- Last Modified
- February 26, 2019
- Creator
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Kerner, Hannah Rae
- Affiliation: College of Arts and Sciences, Department of Computer Science
- Abstract
- Our goal in this research is to develop and integrate three-dimensional collision-avoidance and navigation with physical agents, such as micro-air vehicles (MAVs). We build on prior techniques based on reciprocal velocity obstacles (RVOs) for collision-free navigation and use the ArduCopter quad-rotor helicopters, designed by 3D Robotics, as the physical agents. MAVLink, a communications protocol for micro-air vehicles, is used with the Mission Planner ground-station software providing hardware- and software-in-the-loop capabilities to interface between the quadcopters and the RVO software. We also extend RVO-based 3D collision algorithms to take into account kinematic and dynamic constraints, including bounds on the turn radius, maximum altitude, maximum velocity, etc., and highlight the results using our simulator.
- Date of publication
- spring 2014
- Keyword
- DOI
- Resource type
- Rights statement
- In Copyright
- Note
- Funding: None
- Advisor
- Manocha, Dinesh
- Degree
- Bachelor of Science
- Honors level
- Honors
- Degree granting institution
- University of North Carolina at Chapel Hill
- Extent
- 14 p.
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