Work

On the Development of a Sense and Avoid System for Small Fixed-Wing UAV

Year: 2025

Type: article

Abstract: The increasing use of Unmanned Aerial Vehicles (UAVs) demands enhanced flight safety systems. This study presents the development of an affordable and efficient Sense and Avoid (S&A) system for small fixed-wing UAVs, typically under 25 kg and fly at speeds of up to 15 m/s. The system integrates multiple non-cooperative sensors, two ultrasonic sensors, two laser rangefinders, and one LiDAR, along with a Pixhawk 6X flight controller and a Raspberry Pi CM4 companion computer. A collision avoidance algorithm utilizing the Vector Field Histogram method was implemented to process sensor data and generate real-time trajectory corrections. The system was validated through experiments using a ground rover, demonstrating successful obstacle detection and avoidance with real-time trajectory updates at 10 Hz.

Source: Sensors

DOI: 10.3390/s25082460

Authors: Bruno M. B. Pedro, André C. Marta

Institutions: University of Lisbon, Instituto Superior Técnico, Instituto Superior Técnico Instituto de Engenharia Mecânica

Language: English

Topic: Robotic Path Planning Algorithms

Subfield: Computer Vision and Pattern Recognition

Field: Computer Science

Domain: Physical Sciences

Open Access status: gold

Estimated APC paid: $3,137

Funder: Fundação para a Ciência e a Tecnologia