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

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 publication2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
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 Sep 20211 Oct 2021

Conference

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

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