arXiv cs.RO·· 2 days agoAI score71
Onboard Dynamic Obstacle Avoidance System for Small Quadrotor UAVs Based on mmWave Radar
Summary
The authors propose the first mmWave radar-based onboard perception-and-control dynamic obstacle avoidance system for small quadrotor UAVs. The system combines a lightweight interacting multiple models (IMM) tracker with a control barrier function (CBF) controller that directly outputs evasive accelerations, and derives sufficient avoidance conditions relating sensing range, relative speed, and control delay.
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Source: arXiv cs.RO · arxiv.org
Perception and localizationPlanning and decision makingMotion controlSafety and reliabilityResearch papers#Research#Perception and localization#Planning and decision-making#Motion control#Safety and reliability
Part of the event: Millimeter-wave radar onboard dynamic obstacle avoidance system proposed