A system for application development using aerial robots
by Mohammad Fraiwan; Ahmad Alsaleem; Hashem Abandeh; Omar Aljarrah
International Journal of Embedded Systems (IJES), Vol. 10, No. 6, 2018

Abstract: Autonomous airborne systems have generated a lot of interest in civilian, as well as military applications. The application development process for such systems is inherently expensive and is prone to costly errors. The majority of the developed applications involve routing and navigation toward targets coupled with obstacle avoidance. In this paper, we present the approach and algorithms that were employed to tackle the routing and avoidance problems. The proposed solutions were applied to land-based robots as well as a quad-rotor aerial system. The quad-rotor flight path navigation and routing was programmed based on GPS and on-board measurement data. Obstacle avoidance was implemented based on an algorithm that relies on the idea of virtual potential field. Kalman filters were implemented to improve the accuracy of the measured data. 3D visualisation was used to visually identify obstacles. In the case of in-building reconnaissance, where GPS signals are very weak and largely useless, data from laser sensors and proximity feeds was aggregated and processed to identify obstacles and the topology of the surrounding environment. The organisation and interaction of these various modules is described in detail.

Online publication date: Mon, 22-Oct-2018

The full text of this article is only available to individual subscribers or to users at subscribing institutions.

 
Existing subscribers:
Go to Inderscience Online Journals to access the Full Text of this article.

Pay per view:
If you are not a subscriber and you just want to read the full contents of this article, buy online access here.

Complimentary Subscribers, Editors or Members of the Editorial Board of the International Journal of Embedded Systems (IJES):
Login with your Inderscience username and password:

Username:        Password:          Forgotten your password?

Want to subscribe?
A subscription gives you complete access to all articles in the current issue, as well as to all articles in the previous three years (where applicable). See our Orders page to subscribe.

If you still need assistance, please email subs@inderscience.com