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
2025-06-28 16:36:27 - Adil Khan
Trajectory generation and collision avoidance for indoor uavs
Project Area of Specialization RoboticsProject SummaryThe 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 ObjectivesThe 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 MethodThe 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 ProjectUnmanned 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.
- MATLAB simulation results for trajectory generation and obstacle avoidance.
- Hardware results for autonomous flight, trajectory generation and collision avoidance using TFmini LiDAR.
| Item Name | Type | No. of Units | Per Unit Cost (in Rs) | Total (in Rs) |
|---|---|---|---|---|
| Total in (Rs) | 72596 | |||
| LIDAR TF mini S | Equipment | 2 | 7500 | 15000 |
| Flysky Fs-i6 | Equipment | 1 | 8500 | 8500 |
| Quad-copter frame S-500 | Equipment | 1 | 8000 | 8000 |
| Motors 2312-920Kv | Equipment | 4 | 1999 | 7996 |
| Propeller | Equipment | 8 | 200 | 1600 |
| Electrionic Speed controller | Equipment | 4 | 1500 | 6000 |
| PIxhawk 2.4.1 | Equipment | 1 | 15000 | 15000 |
| Vibrate plate and telemetry | Miscellaneous | 1 | 9000 | 9000 |
| Arduino Mega | Equipment | 1 | 1500 | 1500 |