Improvement of ultrasonic sensor-based obstacle avoidance system in drones

Fatih Alpaslan Kazan; Haydar Solak

Makale detayları

Improvement of ultrasonic sensor-based obstacle avoidance system in drones

Yazarlar:

Fatih Alpaslan Kazan | Haydar Solak

Yayıncı:

Selcuk University

Ana Başlıklar:

Mühendislik | Uzay Mühendisliği

Dergi:

International Journal of Aeronautics and Astronautics Vol.4 Issue 1, pp.9-35

Belge Tipi:

Makale

Yayın Tarihi:

6/2023

Belge Dili:

İngilizce

Document ID (Org No.):

2001292229

pISSN:

2757-6574

Anahtar kelimeler:

Özet:

 Although drone users have received the necessary training, the reflexes of making decisions against a sudden natural event such as wind and avoiding a nearby obstacle may not be sufficient. Therefore, whether drones fly autonomously or under user control, they must sense and act accordingly for an uninterrupted mission. In this study, a drone design and application for obstacle detection and obstacle avoidance were carried out. In the designed drone, Pixhawk was used as the flight control board, ultrasonic sensors were used to detect obstacles, and Arduino Uno was used as a microcontroller to obtain avoidance commands. The sensors used in obstacle detection and their performance are the most decisive factors in achieving the targeted goal. Because obstacle detection sensors are affected by electrical noises, the success of detecting obstacles decreases. For this reason, first of all, the integration of these sensors into the system was investigated and the drone was developed accordingly. Then, an algorithm was developed using a software filtering method both to minimize communication instabilities and to increase the clarity of detection. Finally, the ability to evade obstacles both while the drone is suspended in the air and while it is in motion has been investigated. In the experiments carried out, it was found that the drone was able to successfully avoid obstacles up to a flight speed of 3.94 ms.

 Although drone users have received the necessary training, the reflexes of making decisions against a sudden natural event such as wind and avoiding a nearby obstacle may not be sufficient. Therefore, whether drones fly autonomously or under user control, they must sense and act accordingly for an uninterrupted mission. In this study, a drone design and application for obstacle detection and obstacle avoidance were carried out. In the designed drone, Pixhawk was used as the flight control board, ultrasonic sensors were used to detect obstacles, and Arduino Uno was used as a microcontroller to obtain avoidance commands. The sensors used in obstacle detection and their performance are the most decisive factors in achieving the targeted goal. Because obstacle detection sensors are affected by electrical noises, the success of detecting obstacles decreases. For this reason, first of all, the integration of these sensors into the system was investigated and the drone was developed accordingly. Then, an algorithm was developed using a software filtering method both to minimize communication instabilities and to increase the clarity of detection. Finally, the ability to evade obstacles both while the drone is suspended in the air and while it is in motion has been investigated. In the experiments carried out, it was found that the drone was able to successfully avoid obstacles up to a flight speed of 3.94 ms.

 Although drone users have received the necessary training, the reflexes of making decisions against a sudden natural event such as wind and avoiding a nearby obstacle may not be sufficient. Therefore, whether drones fly autonomously or under user control, they must sense and act accordingly for an uninterrupted mission. In this study, a drone design and application for obstacle detection and obstacle avoidance were carried out. In the designed drone, Pixhawk was used as the flight control board, ultrasonic sensors were used to detect obstacles, and Arduino Uno was used as a microcontroller to obtain avoidance commands. The sensors used in obstacle detection and their performance are the most decisive factors in achieving the targeted goal. Because obstacle detection sensors are affected by electrical noises, the success of detecting obstacles decreases. For this reason, first of all, the integration of these sensors into the system was investigated and the drone was developed accordingly. Then, an algorithm was developed using a software filtering method both to minimize communication instabilities and to increase the clarity of detection. Finally, the ability to evade obstacles both while the drone is suspended in the air and while it is in motion has been investigated. In the experiments carried out, it was found that the drone was able to successfully avoid obstacles up to a flight speed of 3.94 ms.

 Dron kullanıcıları her ne kadar gerekli eğitimleri almış olsalar da rüzgâr gibi ansızın ortaya çıkabilecek bir doğa olayına karşı karar verme ve yakınındaki bir engelden kaçınma refleksleri yeterli olmayabilir. Dolayısıyla dronlar ister otonom isterse kullanıcı kontrolünde uçsunlar, kesintisiz bir görev için çevresindeki engelleri algılamalı ve buna uygun hareket etmelidirler. Yapılan bu çalışmada engelin algılanması ve engelden kaçılmasına yönelik bir dron tasarımı ve uygulaması gerçekleştirilmiştir. Tasarlanan dronda uçuş kontrol kartı olarak Pixhawk, engellerin algılanması için ultrasonik sensörler, kaçınma komutlarının elde edilmesi için de mikrodenetleyici olarak Arduino Uno kullanılmıştır. Engel algılamada kullanılan sensörler ve performansları, hedeflenen amaca ulaşmada en belirleyici unsurdur. Çünkü engel algılama sensörlerinin elektriksel gürültülerden çok fazla etkilenmesi, başarıyı düşürmektedir. Bu nedenle öncelikle bu sensörlerin sisteme entegrasyonları araştırılmış ve dron buna uygun olarak geliştirilmiştir. Ardından hem haberleşme kararsızlıklarını en aza indirmek hem de algılama netliğini artırmak için yazılım filtrelemesi yöntemi kullanılarak bir algoritma geliştirilmiştir. Son olarak, dron hem havada asılı dururken hem de hareket halindeyken engelden kaçma becerisi araştırılmıştır. Yapılan deneylerde dronun 3,94 mslik uçuş hızına kadar engelden başarılı bir şekilde kaçabildiği görülmüştür.

Makale detayları

Improvement of ultrasonic sensor-based obstacle avoidance system in drones

Yazarlar:

Fatih Alpaslan Kazan | Haydar Solak

Yayıncı:

Selcuk University

Ana Başlıklar:

Mühendislik | Uzay Mühendisliği

Dergi:

International Journal of Aeronautics and Astronautics Vol.4 Issue 1, pp.9-35

Belge Tipi:

Makale

Yayın Tarihi:

6/2023

Belge Dili:

İngilizce

Document ID (Org No.):

2001292229

pISSN:

2757-6574

Arduino

Drone

Mission Planner

Obstacle Avoidance

Pixhawk

Ultrasonic SensorArduino

Dron

Engelden Kaçınma

Mission Planer

Pixhawk

Ultrasonik Sensör

Sayı

Makale detayları

Yazarlar: Fatih Alpaslan Kazan | Haydar Solak

Yayıncı: Selcuk University

Ana Başlıklar: Mühendislik | Uzay Mühendisliği

Dergi: International Journal of Aeronautics and Astronautics Vol.4 Issue 1, pp.9-35

Belge Tipi: Makale

Yayın Tarihi: 6/2023

Belge Dili: İngilizce

Document ID (Org No.): 2001292229

pISSN: 2757-6574

Sayı

Yazarlar:

Fatih Alpaslan Kazan | Haydar Solak

Yayıncı:

Selcuk University

Ana Başlıklar:

Mühendislik | Uzay Mühendisliği

Dergi:

International Journal of Aeronautics and Astronautics Vol.4 Issue 1, pp.9-35

Belge Tipi:

Makale

Yayın Tarihi:

6/2023

Belge Dili:

İngilizce

Document ID (Org No.):

2001292229

pISSN:

2757-6574