Abstract
Since UAS operate in a complex and uncertain environment where information is obtained through non-ideal sensors, obstacle avoidance is critical in many missions. However, the performance of avoidance algorithms depends on the type of operating environment, imperfect nature of sensor information and sensitivity of adopted solutions and architectures, which makes evaluation complex. With ongoing research, we establish that previous work on avoidance and reactive control has adequately analyzed neither the performance nor the most important dependencies affecting the system behaviour. We present a simulation framework that reflects the influence of the most vital parameters on the avoidance system. The implications are twofold: providing an evaluation framework for assessing reactive avoidance algorithms and providing a starting point in the design phase.
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Acknowledgment
This research was supported by the “Free the Drones (FreeD)” project hosted by the University of Southern Denmark (SDU) and funded by Danmarks Innovationsfond (project nr. 5156–00008B).
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Borovina, K., Hallam, J. (2018). Simulation Environment for the Evaluation and Design of Reactive Obstacle Avoidance Algorithms in UAS Operating in Low Altitude Airspace. In: Ollero, A., Sanfeliu, A., Montano, L., Lau, N., Cardeira, C. (eds) ROBOT 2017: Third Iberian Robotics Conference. ROBOT 2017. Advances in Intelligent Systems and Computing, vol 693. Springer, Cham. https://doi.org/10.1007/978-3-319-70833-1_61
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DOI: https://doi.org/10.1007/978-3-319-70833-1_61
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