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Authors: Adriana Dapena ; María José Souto-Salorio ; Ana Dorotea Tarrío-Tobar and Paula M. Castro

Affiliation: Universidade da Coruña, Spain

ISBN: 978-989-758-264-6

Keyword(s): Collision Avoidance, Control and Supervision Systems, Characteristic Polynomial, Engineering Applications, Hyperboloid Structure, Modelling and Simulation, Unmanned Aerial Vehicle.

Related Ontology Subjects/Areas/Topics: Autonomous Agents ; Control and Supervision Systems ; Engineering Applications ; Informatics in Control, Automation and Robotics ; Intelligent Control Systems and Optimization ; Mobile Robots and Autonomous Systems ; Modeling, Simulation and Architectures ; Robotics and Automation ; Signal Processing, Sensors, Systems Modeling and Control ; Vehicle Control Applications

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 several formats:
Dapena, A.; 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

@conference{icinco17,
author={Adriana Dapena. and 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},
}

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 - Dapena, A.
AU - Souto-Salorio, M.
AU - Tarrío-Tobar, A.
AU - Castro, P.
PY - 2017
SP - 262
EP - 269
DO - 10.5220/0006410002620269

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