New Search

Export article

A method for autonomous collision-free navigation of a quadrotor UAV in unknown tunnel-like environments

, Andrey V. Savkin
Published: 24 June 2021

Abstract: Unmanned aerial vehicles (UAVs) have become essential tools for exploring, mapping and inspection of unknown three-dimensional (3D) tunnel-like environments which is a very challenging problem. A computationally light navigation algorithm is developed in this paper for quadrotor UAVs to autonomously guide the vehicle through such environments. It uses sensors observations to safely guide the UAV along the tunnel axis while avoiding collisions with its walls. The approach is evaluated using several computer simulations with realistic sensing models and practical implementation with a quadrotor UAV. The proposed method is also applicable to other UAV types and autonomous underwater vehicles.
Keywords: 3D autonomous navigation / quadrotor UAVs / collision avoidance / flying robots / navigation in unknown environments / autonomous tunnel inspection

Scifeed alert for new publications

Never miss any articles matching your research from any publisher
  • Get alerts for new papers matching your research
  • Find out the new papers from selected authors
  • Updated daily for 49'000+ journals and 6000+ publishers
  • Define your Scifeed now

Share this article

Click here to see the statistics on "Robotica" .
References (45)
    Back to Top Top