{"id":615,"date":"2017-07-26T08:55:12","date_gmt":"2017-07-26T07:55:12","guid":{"rendered":"http:\/\/babel.isa.uma.es\/kipr\/?p=615"},"modified":"2017-07-26T08:55:12","modified_gmt":"2017-07-26T07:55:12","slug":"real-time-modification-of-user-inputs-in-the-teleoperation-of-an-uav-in-order-to-avoid-obstacles-with-a-reactive-algorithm-transparently-from-the-user-control","status":"publish","type":"post","link":"https:\/\/babel.isa.uma.es\/kipr\/?p=615","title":{"rendered":"Real-time modification of user inputs in the teleoperation of an UAV in order to avoid obstacles with a reactive algorithm, transparently from the user control"},"content":{"rendered":"<h4>Daman Bareiss, Joseph R. Bourne &#038; Kam K. Leang, <strong>On-board model-based automatic collision avoidance: application in remotely-piloted unmanned aerial vehicles<\/strong>, Auton Robot (2017) 41:1539\u20131554, <a href=\"http:\/\/doi.org\/10.1007\/s10514-017-9614-4\" target=\"_blank\">DOI: 10.1007\/s10514-017-9614-4<\/a>.<\/h4>\n<blockquote><p>This paper focuses on real-world implementation and verification of a local, model-based stochastic automatic collision avoidance algorithm, with application in<br \/>\nremotely-piloted (tele-operated) unmanned aerial vehicles (UAVs). Automatic collision detection and avoidance for tele-operated UAVs can reduce the workload of pilots to allow them to focus on the task at hand, such as searching for victims in a search and rescue scenario following a natural disaster. The proposed algorithm takes the pilot\u2019s input and exploits the robot\u2019s dynamics to predict the robot\u2019s trajectory for determining whether a collision will occur. Using on-board sensors for obstacle detection, if a collision is imminent, the algorithm modifies the pilot\u2019s input to avoid the collision while attempting to maintain the pilot\u2019s intent. The algorithm is implemented using a low-cost on-board computer, flight-control system, and a two-dimensional laser illuminated detection and ranging sensor for obstacle detection along the trajectory of the robot. The sensor data is processed using a split-and-merge segmentation algorithm and an approximate Minkowski difference. Results from flight tests demonstrate the algorithm\u2019s capabilities for teleoperated collision-free control of an experimental UAV.<\/p><\/blockquote>\n","protected":false},"excerpt":{"rendered":"<p>Daman Bareiss, Joseph R. Bourne &#038; Kam K. Leang, On-board model-based automatic collision avoidance: application in remotely-piloted unmanned aerial vehicles, <span class=\"ellipsis\">&hellip;<\/span> <span class=\"more-link-wrap\"><a href=\"https:\/\/babel.isa.uma.es\/kipr\/?p=615\" class=\"more-link\"><span>Read More &rarr;<\/span><\/a><\/span><\/p>\n","protected":false},"author":1,"featured_media":0,"comment_status":"closed","ping_status":"closed","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[23],"tags":[363,257,256],"class_list":["post-615","post","type-post","status-publish","format-standard","hentry","category-robot-motion-planning","tag-human-teleoperation","tag-obstacle-avoidance","tag-reactive-navigation"],"_links":{"self":[{"href":"https:\/\/babel.isa.uma.es\/kipr\/index.php?rest_route=\/wp\/v2\/posts\/615"}],"collection":[{"href":"https:\/\/babel.isa.uma.es\/kipr\/index.php?rest_route=\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/babel.isa.uma.es\/kipr\/index.php?rest_route=\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/babel.isa.uma.es\/kipr\/index.php?rest_route=\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"https:\/\/babel.isa.uma.es\/kipr\/index.php?rest_route=%2Fwp%2Fv2%2Fcomments&post=615"}],"version-history":[{"count":1,"href":"https:\/\/babel.isa.uma.es\/kipr\/index.php?rest_route=\/wp\/v2\/posts\/615\/revisions"}],"predecessor-version":[{"id":616,"href":"https:\/\/babel.isa.uma.es\/kipr\/index.php?rest_route=\/wp\/v2\/posts\/615\/revisions\/616"}],"wp:attachment":[{"href":"https:\/\/babel.isa.uma.es\/kipr\/index.php?rest_route=%2Fwp%2Fv2%2Fmedia&parent=615"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/babel.isa.uma.es\/kipr\/index.php?rest_route=%2Fwp%2Fv2%2Fcategories&post=615"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/babel.isa.uma.es\/kipr\/index.php?rest_route=%2Fwp%2Fv2%2Ftags&post=615"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}