Computationaly simple obstacle avoidance control law for small unmanned aerial vehicles

Czasopismo : Acta Mechanica et Automatica
Tytuł artykułu : Computationaly simple obstacle avoidance control law for small unmanned aerial vehicles

Autorzy :
Azimi, A.
Department of Chemical Engineering, College of Chemical Engineering, Islamic Azad University, Mahshahr Branch, Mahshahr, Farhangsara Street, Iran,
Azimi, M.
Faculty of New Sciences and Technologies, Department of Aerospace, University of Tehran, Tehran, North Kargar, Amirabad, Iran,
Javanfar, A.
Faculty of Mechanical Engineering, Babol University of Technology, Shariati Street, Babol, Iran,
Trąbka, A.
*Faculty of Mechanical Engineering and Computer Science, Department of Engineering Fundamentals, University of Bielsko-Biala, ul. Willowa 2, 43-309 Bielsko-Biała, Poland, atrabka@ath.bielsko.pl,
Szpica, D.
Faculty of Mechanical Engineering, Department of Mechanical Engineering, Bialystok University of Technology, ul. Wiejska 45C, 15-351 Bialystok, Poland, d.szpica@pb.edu.pl,
Czaban, J.
Faculty of Mechanical Engineering, Department of Mechanical Engineering, Bialystok University of Technology, ul. Wiejska 45C, 15-351 Bialystok, Poland, j.czaban@pb.edu.pl,
Banaszuk, P.
Faculty of Civil and Environmental Engineering, Department of Environmental Protection and Management, Bialystok University of Technology, ul. Wiejska 45E, 15-351 Bialystok, Poland, p.banaszuk@pb.edu.pl,
Weresa, E.
Faculty of Mechanical Engineering, Department of Mechanical Engineering, Bialystok University of Technology, ul. Wiejska 45C, 15-351 Bialystok, Poland, e.weresa@pb.edu.pl,
Tomaszewski, J.
Faculty of Mechanical Engineering and Computer Science, Department Of Mechanical Engineering Fundamentals, University of Bielsko-Biala, ul. Willowa 2, 43-300 Bielsko-Biala, Poland, jtomaszewski@ath.bielsko.pl,
Rysiński, J.
Faculty of Mechanical Engineering and Computer Science, Department Of Mechanical Engineering Fundamentals, University of Bielsko-Biala, ul. Willowa 2, 43-300 Bielsko-Biala, Poland, jrysinski@ath.bielsko.pl,
Fedorynenko, D.
Mechanical Engineering Department, Chernihiv National University of Technology, 95 Shevchenka Str., 14027 Chernihiv, Ukraine, fdy@mail.ru,
Boyko, S.
Mechanical Engineering Department, Chernihiv National University of Technology, 95 Shevchenka Str., 14027 Chernihiv, Ukraine, svboyko.cstu@gmail.com,
Sapon, S.
Mechanical Engineering Department, Chernihiv National University of Technology, 95 Shevchenka Str., 14027 Chernihiv, Ukraine, s.sapon@gmail.com,
Styahar, A.
Faculty of Applied Mathematics and Informatics, Department of Applied Mathematics, Ivan Franko Lviv National University, Universytetska,1, 79000, Lviv, Ukraine, astyahar@gmail.com,
Savula, Y.
Faculty of Applied Mathematics and Informatics, Department of Applied Mathematics, Ivan Franko Lviv National University, Universytetska,1, 79000, Lviv, Ukraine, savula@franko.lviv.ua,
Och, E.
Faculty of Mechanical Engineering, Bialystok University of Technology, 45C Wiejska Street, Bialystok, 15-351, Poland, e.och@doktoranci.pb.edu.pl,
Hudák, R.
Faculty of Mechanical Engineering, Department of Biomedical Engineering and Measurement, Technical University of Košice, Letná 9, 042 00 Košice, Slovakia, radovan.hudak@tuke.sk,
Rajťúková, V.
Faculty of Mechanical Engineering, Department of Biomedical Engineering and Measurement, Technical University of Košice, Letná 9, 042 00 Košice, Slovakia, viktoria.rajtukova@tuke.sk,
Živčák, J.
Faculty of Mechanical Engineering, Department of Biomedical Engineering and Measurement, Technical University of Košice, Letná 9, 042 00 Košice, Slovakia, jozef.zivcak@tuke.sk,
Mucha, J.
Faculty of Mechanical Engineering and Aeronautics, Rzeszow University of Technology, al. Powstancow Warszawy 8, 35-959 Rzeszów, Poland, j_mucha@prz.edu.pl,
Witkowski, W.
Faculty of Mechanical Engineering and Aeronautics, Rzeszow University of Technology, al. Powstancow Warszawy 8, 35-959 Rzeszów, Poland, wwitkowski@prz.edu.pl,
Cieśluk, J.
Faculty of Mechanical Engineering, Automatic Control and Robotics Department, Bialystok University of Technology, ul. Wiejska 45C, 15-351 Białystok, Poland, jakub_ciesluk@wp.pl,
Gosiewski, Z.
Faculty of Mechanical Engineering, Automatic Control and Robotics Department, Bialystok University of Technology, ul. Wiejska 45C, 15-351 Białystok, Poland, z.gosiewski@pb.edu.pl,
Ambroziak, L.
Faculty of Mechanical Engineering, Automatic Control and Robotics Department, Bialystok University of Technology, ul. Wiejska 45C, 15-351 Białystok, Poland, l.ambroziak@pb.edu.pl,
Romaniuk, S.
Faculty of Mechanical Engineering, Automatic Control and Robotics Department, Bialystok University of Technology, ul. Wiejska 45C, 15-351 Białystok, Poland, s.romaniuk@doktoranci.pb.edu.pl,
Abstrakty : The investigations of the system which allow to avoid obstacles by the unmanned aerial vehicles (UAV) are presented in the paper. The system is designed to enable the full autonomous UAV flight in an unknown environment. As an information source about obstacles digital camera was used. Developed algorithm uses the existing relations between the imaging system and the parameters read from the UAV autopilot. Synthesis of the proposed obstacle avoidance control law was oriented for computational simplicity. Presented algorithm was checked during simulation studies and in-flight tests.

Słowa kluczowe : statki powietrzne bezzałogowe, unikanie przeszkód, unmanned aerial vehicle, quadrotor control, obstacle avoidance, vision systems,
Wydawnictwo : Oficyna Wydawnicza Politechniki Białostockiej
Rocznik : 2015
Numer : Vol. 9, no. 1
Strony : 50 – 56
Bibliografia : 1. Bresciani T. (2008), Modelling, Identification and Control of a Quadrotor Helicopter, Master’s thesis, Lund University, Sweden.
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DOI :
Cytuj : Azimi, A. ,Azimi, M. ,Javanfar, A. ,Trąbka, A. ,Szpica, D. ,Czaban, J. ,Banaszuk, P. ,Weresa, E. ,Tomaszewski, J. ,Rysiński, J. ,Fedorynenko, D. ,Boyko, S. ,Sapon, S. ,Styahar, A. ,Savula, Y. ,Och, E. ,Hudák, R. ,Rajťúková, V. ,Živčák, J. ,Mucha, J. ,Witkowski, W. ,Cieśluk, J. ,Gosiewski, Z. ,Ambroziak, L. ,Romaniuk, S. , Computationaly simple obstacle avoidance control law for small unmanned aerial vehicles. Acta Mechanica et Automatica Vol. 9, no. 1/2015
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