NDLI: Automatic collision avoidance for manually tele-operated unmanned aerial vehicles

Content Provider	IEEE Xplore Digital Library
Author	Israelsen, J. Beall, M. Bareiss, D. Stuart, D. Keeney, E. van den Berg, J.
Copyright Year	2014
Description	Author affiliation: Dept. of Mech. Eng., Univ. of Utah, Salt Lake City, UT, USA (Israelsen, J.; Beall, M.; Bareiss, D.; Stuart, D.; Keeney, E.) \|\| Sch. of Comput., Univ. of Utah, Salt Lake City, UT, USA (van den Berg, J.)
Abstract	In this paper we present an approach that aids the human operator of unmanned aerial vehicles by automatically performing collision avoidance with obstacles in the environment so that the operator can focus on the global direction of motion of the vehicle. As opposed to systems that override operator control as a last resort in order to avoid collisions (such as those found in modern automobiles), our approach is designed such that the operator can rely on the automatic collision avoidance, enabling intuitive and safe operator control of vehicles that may otherwise be difficult to control. Our approach continually extrapolates the future flight path of the vehicle given the current operator control input. If an imminent collision is predicted our algorithm will override the operator's control input with the nearest control input that will actually let the vehicle avoid collisions with obstacles. This ensures safe flight while simultaneously maintaining the intent of the human operator as closely as possible. We successfully implemented our approach on a physical quadrotor system in a laboratory environment. In all experiments the human operator failed to crash the vehicle into floors, walls, ceilings, or obstacles, even when deliberately attempting to do so.
Starting Page	6638
Ending Page	6643
File Size	3773115
Page Count	6
File Format	PDF
ISBN	9781479936854
DOI	10.1109/ICRA.2014.6907839
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2014-05-31
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Collision avoidance Vehicles Vehicle dynamics Trajectory Robot sensing systems Optimization
Content Type	Text
Resource Type	Article

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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