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Utilizing the RRT*-Algorithm for Collision Avoidance in UAV Photogrammetry Missions

2021-08-09 08:17:00
Lars Killian, Jan Backhaus
arXiv_RO
       
Abstract

This paper presents the application of the Rapidly-exploring Random Tree Star (RRT*) algorithm for multicopter collision avoidance in photogrammetry missions. For better applicability, the presented algorithm redirects the drone onto a predefined mission's path. The experiments are conducted in the simulation software gazebo utilizing a ROS interface to the widely known autopilot software PX4. For obstacle detection, a simulated Intel D435 stereo camera is used. The experiments include two different scenarios, each conducted with two different maximum velocities. The results show that the probabilistic RRT*-algorithm can avoid obstacles successfully and intelligibly even at speeds up to 6 m/s. The main problems persist in the dynamic behavior, the inertia of the multicopter, and the limitations of the sensor technology.

Abstract (translated)

URL

https://arxiv.org/abs/2108.03863

PDF

https://arxiv.org/pdf/2108.03863.pdf

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