Cezary Kownacki
Microaerial vehicles, laser rangefinder, obstacle detection, filtering, obstacle avoidance
This paper discusses the application of laser rangefinders in obstacle avoidance designed for micro-aerial vehicles (MAVs). The discussion considers experiment results presenting nature of sensor readings recorded during real flights. If laser beam is lost, the sensor will give the maximum interval, which means that the clock cycles counter has overflowed. The risk of such errors increases when the laser rangefinder is working in MAVs flying over uncertain urban environments. Experimental results show that additional filtering of sampled range values is necessary to achieve reliable information about obstacle presence. In addition, the experiment results also show elementary vehicle manoeuvers to demonstrate rules of obstacle avoidance.
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