APPLICATION OF DECISION TREE ON COLLISION AVOIDANCE SYSTEM DESIGN AND VERIFICATION FOR QUADCOPTER
| Autor: | Wei Hsiang Lai, Chun Wei Chen, Ping Hsun Hsieh |
|---|---|
| Jazyk: | angličtina |
| Rok vydání: | 2017 |
| Předmět: |
lcsh:Applied optics. Photonics
Quadcopter Engineering business.industry lcsh:T Decision tree learning Real-time computing Decision tree lcsh:TA1501-1820 lcsh:Technology Flight test 03 medical and health sciences 0302 clinical medicine lcsh:TA1-2040 Obstacle Obstacle avoidance Collision avoidance system 030212 general & internal medicine business lcsh:Engineering (General). Civil engineering (General) 030217 neurology & neurosurgery Collision avoidance Simulation |
| Zdroj: | The International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences, Vol XLII-2-W6, Pp 71-75 (2017) |
| ISSN: | 2194-9034 1682-1750 |
| Popis: | The purpose of the research is to build a collision avoidance system with decision tree algorithm used for quadcopters. While the ultrasonic range finder judges the distance is in collision avoidance interval, the access will be replaced from operator to the system to control the altitude of the UAV. According to the former experiences on operating quadcopters, we can obtain the appropriate pitch angle. The UAS implement the following three motions to avoid collisions. Case1: initial slow avoidance stage, Case2: slow avoidance stage and Case3: Rapid avoidance stage. Then the training data of collision avoidance test will be transmitted to the ground station via wireless transmission module to further analysis. The entire decision tree algorithm of collision avoidance system, transmission data, and ground station have been verified in some flight tests. In the flight test, the quadcopter can implement avoidance motion in real-time and move away from obstacles steadily. In the avoidance area, the authority of the collision avoidance system is higher than the operator and implements the avoidance process. The quadcopter can successfully fly away from the obstacles in 1.92 meter per second and the minimum distance between the quadcopter and the obstacle is 1.05 meters. |
| Databáze: | OpenAIRE |
| Externí odkaz: |
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