Anti-Collision System for Multi-Rotor Drones Operating Close to Obstacles using Radar Data
MetadataShow full item record
This thesis concerns the development of a radar-based collision avoidance system formultirotor vehicles. The first chapter is a small introduction to radar systems, toaid in understanding the rest of this thesis. Further on an embedded radar system isdeveloped using the X2M200 radar system from Novelda. Data from the embeddedradar 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 andused in a collision avoidance algorithm based on Null-space-based behavioral control. The software is verified with a pointmass simulator and also tested on a quadrotor simulator.Unfortunately did not time allow for the entire system to be tested together, but eachpart of the system is tested separately and verified to work.