3D COLLISION AVOIDANCE SYSTEM FOR UNMANNED AERIAL VEHICLE (UAV) WITH DECENTRALIZED APPROACH

MOHAMAD HANIFF HARUN; SHAHRUM SHAH ABDULLAH; MOHD SHAHRIEEL MOHD ARAS; MOHD BAZLI BAHAR; FARIZ ALI @IBRAHIM

doi:10.31436/iiumej.v24i2.2803

Authors

Mohamad Haniff Harun Malaysia-Japan International Institute of Technology
Shahrum Shah Abdullah Malaysia-Japan International Institute of Technology https://orcid.org/0000-0001-5759-1241
Mohd Shahrieel Mohd Aras Universiti Teknikal Malaysia Melaka
Mohd Bazli Bahar Malaysia-Japan International Institute of Technology
Fariz Ali@Ibrahim Universiti Teknikal Malaysia Melaka

DOI:

https://doi.org/10.31436/iiumej.v24i2.2803

Keywords:

Decentralized 3D collision avoidance, unmanned aerial vehicle, rangefinder

Abstract

Unmanned aerial vehicles UAVs have been developed and refined for decades. Using an integrated software system, autonomous unmanned aerial vehicles (UAVs) perform missions automatically and return to a pre-programmed point. Malaysia has a lot of unoccupied airspace, yet autonomous UAV applications and research are still rare. In critical conditions, autonomous UAVs must deal with a variety of environmental and flight issues. This project involves a decentralized 3D collision avoidance system for an autonomous UAV. Ultrasonic, infrared, and laser rangefinders were chosen for the 3D collision avoidance system. The UAV's obstacle recognition and collision avoidance performance are also tested in four experiments. In various flight conditions, the 3D collision avoidance system can identify several material types and opacities by integrating selected rangefinders. Finally, the 3D collision avoidance system quickly reacts to obstacles in the X, Y, and Z axes.

ABSTRAK: Kenderaan udara tanpa pemandu (UAV) telah dibangunkan dan diperhalusi selama beberapa dekad. Menggunakan sistem perisian bersepadu, kenderaan udara tanpa pemandu (UAV) autonomi melaksanakan misi secara automatik dan kembali ke titik pra-diprogramkan. Malaysia mempunyai banyak ruang udara yang tidak berpenghuni, namun aplikasi dan penyelidikan UAV autonomi masih jarang berlaku. Dalam keadaan kritikal, UAV autonomi mesti menangani pelbagai isu alam sekitar dan penerbangan. Projek ini melibatkan sistem pengelakan perlanggaran 3D terpencar untuk UAV autonomi. Pencari jarak ultrasonik, inframerah dan laser telah dipilih untuk sistem pengelakan perlanggaran 3D. Prestasi pengecaman halangan dan pengelakan perlanggaran UAV juga diuji dalam empat eksperimen. Dalam pelbagai keadaan penerbangan, sistem pengelakan perlanggaran 3D boleh mengenal pasti beberapa jenis bahan dan kelegapan dengan menyepadukan pencari jarak terpilih. Akhir sekali, sistem pengelakan perlanggaran 3D bertindak balas dengan cepat terhadap halangan dalam paksi X, Y dan Z.

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Author Biographies

Mohamad Haniff Harun, Malaysia-Japan International Institute of Technology

¹Department of Electronic System Engineering, Malaysia-Japan International Institute of Technology, UTM KL Campus, Jalan Sultan Yahya Petra, 54100 Kuala Lumpur, Malaysia

²Fakulti Teknologi Kejuruteraan Elektrik dan Elektronik, Universiti Teknikal Malaysia Melaka, Hang Tuah Jaya, 76100 Durian Tunggal, Melaka, Malaysia

³Underwater Technology Research Group (UTeRG), Center for Robotics and Industrial Automation (CERIA), Fakulti Kejuruteraan Elektrik, Universiti Teknikal Malaysia Melaka, 76100 Durian Tunggal, Melaka, Malaysia

Shahrum Shah Abdullah, Malaysia-Japan International Institute of Technology

¹Department of Electronic System Engineering, Malaysia-Japan International Institute of Technology, UTM KL Campus, Jalan Sultan Yahya Petra, 54100 Kuala Lumpur, Malaysia

Mohd Bazli Bahar, Malaysia-Japan International Institute of Technology

¹Department of Electronic System Engineering, Malaysia-Japan International Institute of Technology, UTM KL Campus, Jalan Sultan Yahya Petra, 54100 Kuala Lumpur, Malaysia

³Underwater Technology Research Group (UTeRG), Center for Robotics and Industrial Automation (CERIA), Fakulti Kejuruteraan Elektrik, Universiti Teknikal Malaysia Melaka, 76100 Durian Tunggal, Melaka, Malaysia.

Fariz Ali@Ibrahim, Universiti Teknikal Malaysia Melaka

³Underwater Technology Research Group (UTeRG), Center for Robotics and Industrial Automation (CERIA), Fakulti Kejuruteraan Elektrik, Universiti Teknikal Malaysia Melaka, 76100 Durian Tunggal, Melaka, Malaysia

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