A Real-time Relative Navigation Capability for Multi-copter Collision Avoidance

Maarten Kastelein, Russell Gilabert, Adam Schultz, Akshay Bharadwaj, Kyle Shiflett and Maarten, Uijt de Haag

Abstract:	Multiple multi-copter data collection platforms have been developed and have been equipped with GNSS, inertial sensors and appropriate communication links. All relative navigation and initial collision avoidance algorithms have been implemented in the Robotic Operating Systems (ROS) on an onboard-embedded processor. This paper outlines the underlying methodology, the platform hardware components (two multi-copters and one ground vehicle), and analyzes and discusses the UAS flight data results recorded for different relative navigation and collision avoidance geometries.
Published in:	Proceedings of the 2016 International Technical Meeting of The Institute of Navigation January 25 - 28, 2016 Hyatt Regency Monterey Monterey, California
Pages:	657 - 663
Cite this article:	Kastelein, Maarten, Gilabert, Russell, Schultz, Adam, Bharadwaj, Akshay, Shiflett, Kyle, Maarten,, de Haag, Uijt, "A Real-time Relative Navigation Capability for Multi-copter Collision Avoidance," Proceedings of the 2016 International Technical Meeting of The Institute of Navigation, Monterey, California, January 2016, pp. 657-663. https://doi.org/10.33012/2016.13462
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