UASs (Unmanned Aircraft Systems) are becoming increasingly popular in the last years, for both military and civil applications. They are widely used in var-ious tasks, such as search and rescue, disaster assessment, urban traffic moni-toring, 3D mapping, etc., that would be risky or impossible to perform for a human. DAA (Detect and Avoid) is a new UAS technology necessary to safely avoid obstacles or other UASs and aircrafts. In this work low-cost sensors, namely, a DAA architecture based on a LIDAR (Light Detection and Ranging), and a ToF (Time of Flight) sensor, are installed on a small unmanned rotorcraft to estimate its distance from an obstacle and for field mapping. To correct the data from systematic errors (bias) and measurement noise, Kalman filtering and a criterion of optimal estimation have been implemented. Collected data are sent to a microcontroller (Arduino Mega 2560), which allows for low-cost hardware implementations of multiple sensors for use in aerospace applications.
Real-Time Obstacle Detection and Field Mapping System Using LIDAR-ToF Sensors for Small UAS
Salvatore Ponte
Investigation
;
2020
Abstract
UASs (Unmanned Aircraft Systems) are becoming increasingly popular in the last years, for both military and civil applications. They are widely used in var-ious tasks, such as search and rescue, disaster assessment, urban traffic moni-toring, 3D mapping, etc., that would be risky or impossible to perform for a human. DAA (Detect and Avoid) is a new UAS technology necessary to safely avoid obstacles or other UASs and aircrafts. In this work low-cost sensors, namely, a DAA architecture based on a LIDAR (Light Detection and Ranging), and a ToF (Time of Flight) sensor, are installed on a small unmanned rotorcraft to estimate its distance from an obstacle and for field mapping. To correct the data from systematic errors (bias) and measurement noise, Kalman filtering and a criterion of optimal estimation have been implemented. Collected data are sent to a microcontroller (Arduino Mega 2560), which allows for low-cost hardware implementations of multiple sensors for use in aerospace applications.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
