Obstacle Avoidance onboard MAVs using a FMCW Radar

Nikhil Wessendorp, Raoul Dinaux, Julien Dupeyroux, Guido C.H.E. de Croon

Research output: Chapter in Book/Conference proceedings/Edited volumeConference contributionScientificpeer-review

5 Citations (Scopus)

Abstract

Micro Air Vehicles (MAVs) are increasingly being used for complex or hazardous tasks in enclosed and cluttered environments such as surveillance or search and rescue. With this comes the necessity for sensors that can operate in poor visibility conditions to facilitate with navigation and avoidance of objects or people. Radar sensors in particular can provide more robust sensing of the environment when traditional sensors such as cameras fail in the presence of dust, fog or smoke. While extensively used in autonomous driving, miniature FMCW radars on MAVs have been relatively unexplored. This study aims to investigate to what extent this sensor is of use in these environments by employing traditional signal processing such as multi-target tracking and velocity obstacles. The viability of the solution is evaluated with an implementation on board a MAV by running trial tests in an indoor environment containing obstacles and by comparison with a human pilot, demonstrating the potential for the sensor to provide a more robust sense and avoid function in fully autonomous MAVs.
Original languageEnglish
Title of host publicationIEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2021
Subtitle of host publicationProceedings
PublisherIEEE
Pages117-122
Number of pages6
ISBN (Electronic)978-1-6654-1714-3
ISBN (Print)978-1-6654-1715-0
DOIs
Publication statusPublished - 2021
Event2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) - Online at Prague, Czech Republic
Duration: 27 Sept 20211 Oct 2021

Publication series

NameIEEE International Conference on Intelligent Robots and Systems
ISSN (Print)2153-0858
ISSN (Electronic)2153-0866

Conference

Conference2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Country/TerritoryCzech Republic
CityOnline at Prague
Period27/09/211/10/21

Fingerprint

Dive into the research topics of 'Obstacle Avoidance onboard MAVs using a FMCW Radar'. Together they form a unique fingerprint.

Cite this