Trajectory generation and collision avoidance for indoor uavs

The sole purpose of the project is to design an algorithm for trajectory generation and collision avoidance of an indoor UAV. The quadcopter was chosen for the implementation of the algorithm and hardware. The algorithm will be developed on MATLAB and implemented on hardware using Arduino. The proje

Project Title

Trajectory generation and collision avoidance for indoor uavs

Project Area of Specialization

Robotics

Project Summary

The sole purpose of the project is to design an algorithm for trajectory generation and collision avoidance of an indoor UAV. The quadcopter was chosen for the implementation of the algorithm and hardware. The algorithm will be developed on MATLAB and implemented on hardware using Arduino. The project begins with the basic design of a controller and simulations are run to test the controller. After the controller is tested, a trajectory planner is designed for the purpose of trajectory generation using the waypoints technique. Simulations are tested on different trajectories and results are verified. Further ahead, a collision avoidance algorithm is designed which detects obstacles and avoids them accordingly to continue on its trajectory. For hardware, we selected Pixhawk 2.4.8, frame S-500, transmitter and receiver FSi6, brushless DC motors 2312-1920Kv and propellers. For sensing of the object, we’ll be using two TFmini S LiDAR for altitude and forward direction.

Project Objectives

The main objective of this project is to design an algorithm for trajectory generation and collision avoidance of an indoor UAV. Then this algorithm would be implemented on hardware that follows an optimized trajectory and avoids any obstacles.

Project Implementation Method

The controller is designed using PID on MATLAB, and the results are verified. An efficient trajectory is generated using the minimum snap trajectory which minimizes control effort and ensures a smooth and continuous path. The quadcopter would avoid obstacles using LiDAR and it uses a geometric approach. Throughout the project, the gains will be finely tuned and adjusted for the proper functioning of the quadcopter.

Benefits of the Project

Unmanned aero vehicle (UAV) has great potential to be widely used in both civil and military applications. This project provides significant help in the defense system because of its indoor obstacle avoidance techniques. This will also be useful in,

• environmental monitoring
• agricultural field
• surveillance tracking.

Technical Details of Final Deliverable

• MATLAB simulation results for trajectory generation and obstacle avoidance.
• Hardware results for autonomous flight, trajectory generation and collision avoidance using TFmini LiDAR.

Final Deliverable of the Project

HW/SW integrated system

Core Industry

Manufacturing

Other Industries

Others

Core Technology

Robotics

Other Technologies

Artificial Intelligence(AI)

Sustainable Development Goals

Industry, Innovation and Infrastructure

Required Resources

If you need this project, please contact me on contact@adikhanofficial.com