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  Obstacle Detection, Tracking and Avoidance for a Teleoperated UAV

Odelga, M., Bülthoff, H., & Stegagno, P. (2016). Obstacle Detection, Tracking and Avoidance for a Teleoperated UAV. In IEEE International Conference on Robotics and Automation (ICRA 2016) (pp. 2984-2990). Piscataway, NJ, USA: IEEE.

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Item Permalink: http://hdl.handle.net/21.11116/0000-0000-7A9E-6 Version Permalink: http://hdl.handle.net/21.11116/0000-0000-7A9F-5
Genre: Conference Paper

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Odelga, M1, 2, 3, Author              
Bülthoff, HH2, 3, 4, Author              
Stegagno, P1, 2, 3, Author              
Affiliations:
1Project group: Autonomous Robotics & Human-Machine Systems, Max Planck Institute for Biological Cybernetics, Max Planck Society, ou_2528704              
2Max Planck Institute for Biological Cybernetics, Max Planck Society, ou_1497794              
3Department Human Perception, Cognition and Action, Max Planck Institute for Biological Cybernetics, Max Planck Society, ou_1497797              
4Project group: Cybernetics Approach to Perception & Action, Max Planck Institute for Biological Cybernetics, Max Planck Society, ou_2528701              

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 Abstract: In this paper, we present a collision-free indoor navigation algorithm for teleoperated multirotor Unmanned Aerial Vehicles (UAVs). Assuming an obstacle rich environment, the algorithm keeps track of detected obstacles in the local surroundings of the robot. The detection part of the algorithm is based on measurements from an RGB-D camera and a Bin-Occupancy filter capable of tracking an unspecified number of targets. We use the estimate of the robot’s velocity to update the obstacles state when they leave the direct field of view of the sensor. The avoidance part of the algorithm is based on the Model Predictive Control approach. By predicting the possible future obstacles states, it filters the operator commands to prevent collisions. The method is validated on a platform equipped with its own computational unit, which makes it selfsufficient in terms of external CPUs.

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 Dates: 2016-05
 Publication Status: Published in print
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 Identifiers: DOI: 10.1109/ICRA.2016.7487464
BibTex Citekey: OdelgaBS2016
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Title: IEEE International Conference on Robotics and Automation (ICRA 2016)
Place of Event: Stockholm, Sweden
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Title: IEEE International Conference on Robotics and Automation (ICRA 2016)
Source Genre: Proceedings
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Publ. Info: Piscataway, NJ, USA : IEEE
Pages: - Volume / Issue: - Sequence Number: - Start / End Page: 2984 - 2990 Identifier: ISBN: 978-1-4673-8026-3