Anti-Collision System for Multi-Rotor Drones Operating Close to Obstacles using Radar Data

Abstract

This thesis concerns the development of a radar-based collision avoidance system for multirotor vehicles. The first chapter is a small introduction to radar systems, to aid in understanding the rest of this thesis. Further on an embedded radar system is developed using the X2M200 radar system from Novelda. Data from the embedded radar system is then tested on a object detection algorithm which looks for blobs (connected areas with several reflections). Cylinders are fitted to the detected blobs and used in a collision avoidance algorithm based on Null-space-based behavioral control. The software is verified with a point mass simulator and also tested on a quadrotor simulator. Unfortunately did not time allow for the entire system to be tested together, but each part of the system is tested separately and verified to work.