Light Detection and Ranging based Collision Avoidance for Micro Aerial Vehicle

P. Sakthivel¹ , B. Anbarasu² , G. Anitha³

Section:Research Paper, Product Type: Journal-Paper
Vol.6 , Issue.1 , pp.43-45, Jan-2020

Online published on Jan 31, 2020

Copyright © P. Sakthivel, B. Anbarasu, G. Anitha . This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.
 

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Abstract :
Obstacle detection and collision avoidance algorithm are proposed to detect and avoid static and dynamic obstacles in the indoor environment. The range of the obstacle from the Micro Aerial Vehicle using Light Detection and Ranging sensor. Based on the principle of Time of Flight obstacle detection algorithm is implemented on Raspberry Pi Zero W, a single board computer. When the computed range between the Micro Aerial Vehicle and the obstacle is less than threshold range value of 1.5 m, pulse width modulated signal can be applied to the pitch channel to pitch the Micro Aerial Vehicle backwards to avoid collision with an obstacle.

Key-Words / Index Term :
LIDAR, Time of Flight, Micro Aerial Vehicle, Obstacle detection, Collision Avoidance

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