Open AccessOverview of Obstacle Avoidance Algorithms for UAV Environment Awareness
Author(s) -
Kuijun Zuo,
Cheng Xuan,
Heng Zhang
Publication year - 2021
Publication title -
journal of physics. conference series
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.21
H-Index - 85
eISSN - 1742-6596
pISSN - 1742-6588
DOI - 10.1088/1742-6596/1865/4/042002
Subject(s) - obstacle avoidance , obstacle , computer science , computer vision , collision avoidance , artificial intelligence , motion planning , path (computing) , real time computing , mobile robot , robot , geography , computer security , archaeology , collision , programming language
In complex indoor and outdoor environment, obstacle avoidance of UAV (Unmanned Aerial Vehicles) is a challenging problem. In order to realize the obstacle detection, autonomous positioning and trajectory planning of UAV flight mission in large outdoor scene, there are three main technical problems: Firstly, UAV needs to have the ability to quickly detect a variety of obstacles in outdoor scene. Secondly, in order to realize the autonomous navigation of UAV, it needs to establish the coordinates of obstacles in three-dimensional space. Thirdly, based on the above two conditions, UAV can independently plan flight path to avoid obstacles. This paper mainly introduces the use of RGB-D camera, lidar, monocular camera and binocular camera in UAV obstacle avoidance, and compares them from the sensor types, advantages disadvantages and application range. Secondly, the path planning strategy of UAV is discussed, and the existing problems and current research results of UAV trajectory planning strategy are described. Finally, it is pointed out that real-time computing, multi-sensor fusion and integrated obstacle avoidance between multi aircraft should be the research direction of autonomous obstacle avoidance navigation for UAV in the future.