An Algebraic Collision Avoidance Approach for Unmanned Aerial Vehicle

Adriana Dapena, María José Souto-Salorio, Ana Dorotea Tarrío-Tobar, Paula M. Castro

Abstract

In this paper we address the problem of avoidancing collisions between an Unmanned Aerial Vehicle (UAV) and a rigid surface. The UAV is modelled as an unique sphere envolving the UAV or as multiple spheres only envolving the motors. The UAV flies inside a rigid hyperboloid structure typically used in architecture. The collision is detected by means of the study of the characteristic polynomial associated to quadric surfaces. Computer simulation results included in this paper will show both the accuracy and the low computational cost exhibited by the proposed method.

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Paper Citation


in Harvard Style

Dapena A., Souto-Salorio M., Tarrío-Tobar A. and Castro P. (2017). An Algebraic Collision Avoidance Approach for Unmanned Aerial Vehicle . In Proceedings of the 14th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 978-989-758-264-6, pages 262-269. DOI: 10.5220/0006410002620269


in Bibtex Style

@conference{icinco17,
author={Adriana Dapena and María José Souto-Salorio and Ana Dorotea Tarrío-Tobar and Paula M. Castro},
title={An Algebraic Collision Avoidance Approach for Unmanned Aerial Vehicle},
booktitle={Proceedings of the 14th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2017},
pages={262-269},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0006410002620269},
isbn={978-989-758-264-6},
}


in EndNote Style

TY - CONF
JO - Proceedings of the 14th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - An Algebraic Collision Avoidance Approach for Unmanned Aerial Vehicle
SN - 978-989-758-264-6
AU - Dapena A.
AU - Souto-Salorio M.
AU - Tarrío-Tobar A.
AU - Castro P.
PY - 2017
SP - 262
EP - 269
DO - 10.5220/0006410002620269