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Reciprocal collision avoidance for autonomous formation flight applied to the 3D navigation of Quadrotors with onboard sensors

Grant number: 15/11027-2
Support type:Scholarships in Brazil - Scientific Initiation
Effective date (Start): October 01, 2015
Effective date (End): July 31, 2016
Field of knowledge:Physical Sciences and Mathematics - Computer Science
Principal Investigator:Roberto Santos Inoue
Grantee:André Sá de Mello
Home Institution: Centro de Ciências Exatas e de Tecnologia (CCET). Universidade Federal de São Carlos (UFSCAR). São Carlos , SP, Brazil

Abstract

The collision avoidance problem for Unmanned Aerial Vehicles (UAVs) is a long date subject of research, but for which solutions historically tended to be developed by ad-hoc criteria, case by case, so that only recently robust methods for general use have begun to be developed. In effect, be it in theory or in application, the area holds great potential for growth, and due to the recent rise in popularity of such systems, there is also an enormous strategic interest for military and civilian use cases. This project proposes the application of the Optimal Reciprocal Collision Avoidance (ORCA) algorithm in the scope of formation flight for quadrotors, fitted with onboard sensors for the estimation of kinetic states of dynamic reactionary obstacles. The current state-of-the-art includes research for the application of ORCA for such UAV classes, however no known work has been made towards the integration of autonomous navigation and dynamic target convergence, as needed by formation flight situations.