IMPLEMENTATION OF ELLIPSOID BASED OBSTACLE AVOIDANCE ALGORITHM ON QUADCOPTER CONTROL AND GUIDANCE

• Main Author: Fazlur Rahman (NIM : 13613039), Muhammad
• Format: Final Project
• Language: Indonesia
• Online Access: https://digilib.itb.ac.id/gdl/view/23219
• Institution: Institut Teknologi Bandung

Application of Unmanned Aerial Vehicle have reached an autonomous flight level by implementing waypoint following system. Unfortunately, further autonomous flight level haven’t established yet, which limits the UAV operations. One of the biggest challenge here is to fly autonomously in an area with high collision probability. <br /> <br /> <br /> <br /> <br /> This thesis is aimed to implement and obstacle avoidance algorithm into a quadcopter. Arduino UNO, which is a microcontroller board, is used to as obstacle avoidance system controller by guiding Pixhawk, a flight controller, based on distance measurement and obstacle estimation. The obstacle avoidance algorithm is an algorithm to quantify obstacle as an ellipsoid restricted zone and use contact point in ellipsoid surface as a guidance. When an obstacle is detected, it changes the flight mode to avoidance mode and perform a skidding maneuver based on the contact point. <br /> <br /> <br /> <br /> <br /> Flight test result shows the proposed obstacle avoidance system has successfully finish its mission. The result is presented in the form of command signal, flight attitude, measured distance, and trajectory.