|Popis:||Unmanned Aerial Vehicles (UAVs) are expanding from open outdoor environments into more constrained indoor locations thanks to improvements in accuracy and precision of localization, navigation and control algorithms in recent years. New possibilities for deployment of autonomous UAV swarms into indoor environments emerge, leading to the development of high-level mission-oriented algorithms. Our team is in particular interested in mapping and documenting of historic buildings to assess the condition of the ceiling, murals, statues, stained glass, etc. Despite the advanced localization methods, a situation that could lead to a collision of the UAV with a static or dynamic obstacle might occur due to localization algorithm failure, sensor not detecting the obstacle, etc.
The goal of this project is to design, build and implement a system that will serve as a low-level, last-resort collision avoidance solution. Such a system sometimes referred to as a virtual bumper, will activate when the safety area defined by a sphere around the UAV is compromised. The UAV would quickly, but smoothly modify its trajectory to avoid the collision by an evasive maneuver with parameters depending on the time to potential collision. The development of the hardware part, consisting of a set of cheap ultrasound sensors mounted on the frame of the UAV, will be a crucial part of the solution.