Adaptation of Dubins Paths for UAV Ground Obstacle Avoidance When Using a Low Cost On-Board GNSS Sensor
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 lo...
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doaj-032e878b168b43b6be9488ca423466da2020-11-24T23:23:52ZengMDPI AGSensors1424-82202017-09-011710222310.3390/s17102223s17102223Adaptation of Dubins Paths for UAV Ground Obstacle Avoidance When Using a Low Cost On-Board GNSS SensorRamūnas Kikutis0Jonas Stankūnas1Darius Rudinskas2Tadas Masiulionis3Department of Avionics, Vilnius Gediminas Technical University, 02187 Vilnius, LithuaniaDepartment of Avionics, Vilnius Gediminas Technical University, 02187 Vilnius, LithuaniaDepartment of Avionics, Vilnius Gediminas Technical University, 02187 Vilnius, LithuaniaDepartment of Avionics, Vilnius Gediminas Technical University, 02187 Vilnius, LithuaniaCurrent 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.https://www.mdpi.com/1424-8220/17/10/2223UAV navigationground obstacle avoidance algorithmDubins pathsGNSS position measurementsposition accuracy |
collection |
DOAJ |
language |
English |
format |
Article |
sources |
DOAJ |
author |
Ramūnas Kikutis Jonas Stankūnas Darius Rudinskas Tadas Masiulionis |
spellingShingle |
Ramūnas Kikutis Jonas Stankūnas Darius Rudinskas Tadas Masiulionis Adaptation of Dubins Paths for UAV Ground Obstacle Avoidance When Using a Low Cost On-Board GNSS Sensor Sensors UAV navigation ground obstacle avoidance algorithm Dubins paths GNSS position measurements position accuracy |
author_facet |
Ramūnas Kikutis Jonas Stankūnas Darius Rudinskas Tadas Masiulionis |
author_sort |
Ramūnas Kikutis |
title |
Adaptation of Dubins Paths for UAV Ground Obstacle Avoidance When Using a Low Cost On-Board GNSS Sensor |
title_short |
Adaptation of Dubins Paths for UAV Ground Obstacle Avoidance When Using a Low Cost On-Board GNSS Sensor |
title_full |
Adaptation of Dubins Paths for UAV Ground Obstacle Avoidance When Using a Low Cost On-Board GNSS Sensor |
title_fullStr |
Adaptation of Dubins Paths for UAV Ground Obstacle Avoidance When Using a Low Cost On-Board GNSS Sensor |
title_full_unstemmed |
Adaptation of Dubins Paths for UAV Ground Obstacle Avoidance When Using a Low Cost On-Board GNSS Sensor |
title_sort |
adaptation of dubins paths for uav ground obstacle avoidance when using a low cost on-board gnss sensor |
publisher |
MDPI AG |
series |
Sensors |
issn |
1424-8220 |
publishDate |
2017-09-01 |
description |
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. |
topic |
UAV navigation ground obstacle avoidance algorithm Dubins paths GNSS position measurements position accuracy |
url |
https://www.mdpi.com/1424-8220/17/10/2223 |
work_keys_str_mv |
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