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UAV Obstacle Avoidance Algorithm to Navigate in Dynamic Building Environments

Engineering Physics Group, School of Aerospace Engineering, University of Vigo, Campus Ourense, 32004 Ourense, Spain
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Academic Editor: Abdessattar Abdelkefi
Drones 2022, 6(1), 16; https://doi.org/10.3390/drones6010016
Received: 17 December 2021 / Revised: 3 January 2022 / Accepted: 8 January 2022 / Published: 10 January 2022
In this work, a real-time collision avoidance algorithm was presented for autonomous navigation in the presence of fixed and moving obstacles in building environments. The current implementation is designed for autonomous navigation between waypoints of a predefined flight trajectory that would be performed by an UAV during tasks such as inspections or construction progress monitoring. It uses a simplified geometry generated from a point cloud of the scenario. In addition, it also employs information from 3D sensors to detect and position obstacles such as people or other UAVs, which are not registered in the original cloud. If an obstacle is detected, the algorithm estimates its motion and computes an evasion path considering the geometry of the environment. The method has been successfully tested in different scenarios, offering robust results in all avoidance maneuvers. Execution times were measured, demonstrating that the algorithm is computationally feasible to be implemented onboard an UAV. View Full-Text
Keywords: UAVs in construction; obstacle avoidance; LiDAR; optimization; non-linear programming UAVs in construction; obstacle avoidance; LiDAR; optimization; non-linear programming
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MDPI and ACS Style

Aldao, E.; González-deSantos, L.M.; Michinel, H.; González-Jorge, H. UAV Obstacle Avoidance Algorithm to Navigate in Dynamic Building Environments. Drones 2022, 6, 16. https://doi.org/10.3390/drones6010016

AMA Style

Aldao E, González-deSantos LM, Michinel H, González-Jorge H. UAV Obstacle Avoidance Algorithm to Navigate in Dynamic Building Environments. Drones. 2022; 6(1):16. https://doi.org/10.3390/drones6010016

Chicago/Turabian Style

Aldao, Enrique, Luis M. González-deSantos, Humberto Michinel, and Higinio González-Jorge. 2022. "UAV Obstacle Avoidance Algorithm to Navigate in Dynamic Building Environments" Drones 6, no. 1: 16. https://doi.org/10.3390/drones6010016

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