Collision avoidance mechanisms for UAV

Tan, Jie Sim (2024) Collision avoidance mechanisms for UAV. Project Report. Universiti Teknikal Malaysia Melaka, Melaka, Malaysia. (Submitted)

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Abstract

Unmanned Aerial Vehicles (UAV) is an aircraft which can fly autonomously without the presence of pilot. There has been significant development in UAV over the past few years. Nowadays, UAV is widely used in various applications such as delivery, monitoring and filming. There is a high probability that UAV may collide with objects because it always flies to an unpredictable environment. This shows the importance of a collision avoidance system with the correct algorithm for UAV when carrying out its mission. In real world applications, there are many inherent uncertainties during the flight of UAV. The aim of this project is to investigate the collision avoidance algorithms that are suitable for UAV. Analyzing the performance of APF algorithm under 3 different conditions is one of the objectives in this project. Collision avoidance algorithm coupled with distance sensors is a recommended safety improvement for UAVs in real world applications. To carrying out this project, a comparison between the algorithms is computed to choose a suitable algorithm for this project. Then, the selected algorithm is modelled on MATLAB. The performance of the algorithm in virtual environment with different numbers of obstacles, extreme goal position and wind disturbances are analyzed by calculating RMSE value. Some experiments are carried out to make a comparison between the ultrasonic sensor and infrared sensor. By the end of this project, APF algorithm is selected and modelled on MATLAB. In virtual simulations, APF algorithm effectively plans paths for UAV to reach goal position without colliding with obstacles. In environment with wind disturbances, the RMSE value increased by 36.5% if compared to environment without wind disturbances.

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