Abstract
Unmanned aerial vehicles (UAVs) with high mobility can perform various roles such as delivering goods, collecting information, recording videos and more. However, there are many elements in the city that disturb the flight of the UAVs, such as various obstacles and urban canyons which can cause a multi-path effect of GPS signals, which degrades the accuracy of GPS-based localization. In order to empower the safety of the UAVs flying in urban areas, UAVs should be guided to a safe area even in a GPS-denied or network-disconnected environment. Also, UAVs must be able to avoid obstacles while landing in an urban area. For this purpose, we present the UAV detour system for operating UAV in an urban area. The UAV detour system includes a highly reliable laser guidance system to guide the UAVs to a point where they can land, and optical flow magnitude map to avoid obstacles for a safe landing.
Highlights
The unmanned aerial vehicle (UAV) has a wide operating radius and can be equipped with diverse sensing and actuation devices [1]
We confirmed whether the safe landing system can detect obstacles based on the optical flow magnitude map and whether the UAV can move in the direction of avoiding obstacles
UAV flying in urban area requires additional systems to fly in the absence of GPS or to avoid obstacles
Summary
The unmanned aerial vehicle (UAV) has a wide operating radius and can be equipped with diverse sensing and actuation devices [1]. We need a flight and landing guidance system for public safety against UAVs that lose connection and position (and even malfunctioned UAVs) For these purposes, we propose the UAV detour system that satisfies the following conditions. UAV should be allowed to continue its mission in situations where GPS is not available or the network is disconnected; The system that guides the UAVs’ flight should be able to overcome multi-path fading and interference that may occur in urban areas; When the UAV is landing, the UAV must be able to land safely while avoiding obstacles. The safe landing system was developed based on our previous work [14] It has been improved for the use of optical flow magnitude maps, which make it more stable on a low-power computing board in UAV than in previous work.
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