期刊名称：Journal of Automation, Mobile Robotics & Intelligent Systems (JAMRIS)
印刷版ISSN：1897-8649
电子版ISSN：2080-2145
出版年度：2013
卷号：7
期号：1
页码：54
出版社：Industrial Research Inst. for Automation and Measurements, Warsaw
摘要：Teleoperation of unmanned aerial vehicles often demands extensive training. Yet, even well trained pilots are prone to mistakes, resulting frequently in collisions of the vehicle with obstacles. This paper presents a method to assist the tele-operation of a quadrotor using an obstacle avoidance approach. In particular, rough map of the nearby envi- ronment is constructed using sonar sensors. This map is constructed using FastSLAM to allow tracking of the vehi- cle position with respect to the map. The map is then used to override operator commands that may lead to a collision. An unknown and GPS denied environment is considered. Experimental results using the USARsim simulator are presented.
关键词：collision avoidance; 3D FastSLAM; quad- ; copter; occupancy grid mapping
