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3d Obstacle Avoidance For Unmanned Autonomous System (Uas), Lin Zhao
3d Obstacle Avoidance For Unmanned Autonomous System (Uas), Lin Zhao
UNLV Theses, Dissertations, Professional Papers, and Capstones
The goal of this thesis is to design a real-time, three-dimensional algorithm, named as the vector mesh (VM) algorithm, for unmanned aerial vehicles (UAV) to generate collision-free motion in indoor or outdoor environments with unknown obstacles. This promising technology can be utilized in both military and commercial applications. The VM approach employs three data reduction phases to compute optimal navigation directions while on-board scanning range sensor continuously updates depth data. In order to develop the VM, vector filed histogram (VFH) which applied in 2D space was first simulated in Matlab. Then a 2D autonomous navigation was implemented on a developed …