UAV Obstacle Avoidance Scheme Using an Output to Input Saturation Transformation Technique.

Corentin Chauffaut (1) , François Defay (1) , Laurent Burlion (2) , Henry de Plinval (2)

1 ISAE-SUPAERO - Institut Supérieur de l'Aéronautique et de l'Espace
2 ONERA - The French Aerospace Lab [Toulouse]

This paper presents a novel obstacle avoidance scheme for UAVs. This scheme is based on the use of a technique recently developed by one of the authors, which is based on a transformation of a variable constraint into an input saturation. In the case of obstacle avoidance, this saturation is designed so as to ensure a safe trajectory around the obstacles, offering a proof of this desired behavior. A low-cost RGB-D sensor has been used to detect obstacles as its output measurements of the environment are effortlessly interpreted even with a low power embedded processor. Experimental results are provided, together with a simulation, to prove the efficiency of the approach.

Mots clés: UAV; EVITEMENT OBSTACLE; SATURATION; CAPTEUR RGB-D

Domaines: Physique de l'espace [physics.space-ph]

Corentin Chauffaut, François Defay, Laurent Burlion, Henry de Plinval. UAV Obstacle Avoidance Scheme Using an Output to Input Saturation Transformation Technique.. 2016 International Conference on Unmanned Aircraft Systems (ICUAS), p. 227-234, 2016, ⟨10.1109/ICUAS.2016.7502651⟩. ⟨hal-01436015⟩