A Real-time Relative Navigation Capability for Multi-copter Collision Avoidance
Published in Proceedings of the 2016 International Technical Meeting of The Institute of Navigation, 2016
This paper presents multi-copter platforms equipped with GNSS, inertial sensors, and appropriate communication links. Relative navigation and initial collision avoidance algorithms were implemented on embedded processors running the Robot Operating System (ROS). The paper details the methodology, hardware components consisting of two multi-copters and one ground vehicle, and analysis of flight test results across various navigation and collision avoidance scenarios.
Recommended citation: Kastelein, M., Gilabert, R., Schultz, A., Bharadwaj, A., Shiflett, K., & Uijt de Haag, M. (2016). "A Real-time Relative Navigation Capability for Multi-copter Collision Avoidance." Proceedings of the 2016 International Technical Meeting of The Institute of Navigation. pp. 657-663.
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