Collision-free path planning of unmanned aerial vehicle (UAV) using radar

• Main Author: Widjaja, Kevin
• Other Authors: Xie Lihua
• Format: Final Year Project
• Language: English
• Published: 2019
• Subjects: DRNTU::Engineering::Electrical and electronic engineering::Control and instrumentation::Robotics
• Online Access: http://hdl.handle.net/10356/78235
• Institution: Nanyang Technological University

In the past year, many methods have been proposed to allow for a collision avoiding navigation. However, only sensors such as IR distance sensor and SONAR due to its size and simplicity. While, the more advanced sensor was bulkier and more substantial, which made it unusable for UAV obstacle detection purpose. However, as technology progress, small and reliable mmWave Radar became available and can perform a task such as simple since and avoid function and altitude measurement for small to medium size UAV. In this project, we will use a more advance mmWave Radar, IWR1443, in combination with a powerful onboard computer to find out whether it is possible to use an advanced 3D radar to perform 3D mapping and advance obstacle free maneuvering that previously only available in larger UAV and UGV due to strict weight limit for small UAV. By using and modifying a demo ROS package made for a TurtleBot UGV and the IWR1443 radar, it is possible to implement such function to a small UAV.