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Open AccessArticle

Adaptation of Dubins Paths for UAV Ground Obstacle Avoidance When Using a Low Cost On-Board GNSS Sensor

Department of Avionics, Vilnius Gediminas Technical University, 02187 Vilnius, Lithuania
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Author to whom correspondence should be addressed.
Sensors 2017, 17(10), 2223; https://doi.org/10.3390/s17102223
Received: 12 July 2017 / Revised: 24 September 2017 / Accepted: 26 September 2017 / Published: 28 September 2017
(This article belongs to the Special Issue UAV or Drones for Remote Sensing Applications)
Current research on Unmanned Aerial Vehicles (UAVs) shows a lot of interest in autonomous UAV navigation. This interest is mainly driven by the necessity to meet the rules and restrictions for small UAV flights that are issued by various international and national legal organizations. In order to lower these restrictions, new levels of automation and flight safety must be reached. In this paper, a new method for ground obstacle avoidance derived by using UAV navigation based on the Dubins paths algorithm is presented. The accuracy of the proposed method has been tested, and research results have been obtained by using Software-in-the-Loop (SITL) simulation and real UAV flights, with the measurements done with a low cost Global Navigation Satellite System (GNSS) sensor. All tests were carried out in a three-dimensional space, but the height accuracy was not assessed. The GNSS navigation data for the ground obstacle avoidance algorithm is evaluated statistically. View Full-Text
Keywords: UAV navigation; ground obstacle avoidance algorithm; Dubins paths; GNSS position measurements; position accuracy UAV navigation; ground obstacle avoidance algorithm; Dubins paths; GNSS position measurements; position accuracy
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Kikutis, R.; Stankūnas, J.; Rudinskas, D.; Masiulionis, T. Adaptation of Dubins Paths for UAV Ground Obstacle Avoidance When Using a Low Cost On-Board GNSS Sensor. Sensors 2017, 17, 2223.

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