A laser obstacle warning and avoidance system for unmanned aircraft sense-and-avoid

Roberto Sabatini, Alessandro Gardi, Subramanian Ramasamy

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

20 Scopus citations

Abstract

This paper presents an overview of the research activities performed to develop a new scaled variant of the Laser Obstacle Avoidance and Monitoring (LOAM) system for small-to- medium size Unmanned Aircraft (UA) platforms. This LOAM variant (LOAM+) is proposed as one of the non-cooperative sensors employed in the UA Sense-and-Avoid (SAA) system. After a brief description of the LOAM system architecture, the mathematical models developed for obstacle avoidance and calculation of alternative flight path are presented. Additionally, a new formulation is adopted for defining the uncertainty volumes associated with the detected obstacles. Simulation case studies are carried out to evaluate the performances of the avoidance trajectory generation and optimisation algorithms, which demonstrate the ability of LOAM+ to effectively detect and avoid fixed low-level obstacles in the intended path.

Original languageBritish English
Title of host publicationAEROTECH V
Subtitle of host publicationProgressive Aerospace Research
EditorsFairuz I. Romli, D.L. Majid, Faizal Mustapha, Fairuz I. Romli, D.L. Majid, Faizal Mustapha, Renuganth Varatharajoo, Fairuz I. Romli, Kamarul Arifin Ahmad, D.L. Majid, Faizal Mustapha, Renuganth Varatharajoo, Fairuz I. Romli, Kamarul Arifin Ahmad, D.L. Majid, Faizal Mustapha
Pages355-360
Number of pages6
ISBN (Electronic)9783038352327, 9783038352327
DOIs
StatePublished - 2014
Event5th AEROTECH conference - Kuala Lumpur, Malaysia
Duration: 29 Oct 201430 Oct 2014

Publication series

NameApplied Mechanics and Materials
Volume629
ISSN (Print)1660-9336
ISSN (Electronic)1662-7482

Conference

Conference5th AEROTECH conference
Country/TerritoryMalaysia
CityKuala Lumpur
Period29/10/1430/10/14

Keywords

  • LIDAR
  • Low-level flight
  • Obstacle avoidance
  • Obstacle detection
  • Obstacle warning
  • Sense-and-avoid
  • Uncertainty volume
  • Unmanned aircraft

Fingerprint

Dive into the research topics of 'A laser obstacle warning and avoidance system for unmanned aircraft sense-and-avoid'. Together they form a unique fingerprint.

Cite this