Reach abilty Analysis of UAVs through Cluttered Environments

Ankit, K and Shrivathsa, MS and Kolathaya, S and Ghose, D (2024) Reach abilty Analysis of UAVs through Cluttered Environments. In: AIAA SciTech Forum and Exposition, 2024, 8 January 2024through 12 January 2024, Orlando, Florida..

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Abstract

Aerial imaging and surveillance play a crucial role in forestry and agriculture processes, utilizing Unmanned Aerial Vehicles (UAVs) for high-resolution remote sensing at close range. However, navigating through dense canopies or underneath them without colliding remains a challenging problem in aerial robotics. Quantifying the reachability of aerial space is apre requisite for deciding upon the technical feasibility of such operations. Existing literature often suggests using reactive range-based methods that rely on expensive onboard sensors like depth cameras or LiDARs. This work presents a cost-effective geometrical analysis using amonocular camera and inertial sensors to generate reachability maps. An essential contribution is proposing an efficient sector division method that significantly reduces the search space required for analysis. The generated reachability map can serve as a valuable resource for planning optimal paths and operational settings, facilitating the collision-free traversal of UAVs through complex aerial environments with various obstructions and clutter. © 2024 by Kumar Ankit, Shrivathsa M S, Shishir Kolathaya and Debasish Ghose.

Item Type:	Conference Paper
Publication:	AIAA SciTech Forum and Exposition, 2024
Publisher:	American Institute of Aeronautics and Astronautics Inc, AIAA
Additional Information:	The copyright for this article belongs to American Institute of Aeronautics and Astronautics Inc, AIAA.
Keywords:	Air navigation; Cameras; Cost effectiveness; Remote sensing; Unmanned aerial vehicles (UAV), Aerial imaging; Aerial robotics; Aerial surveillance; Aerial vehicle; Close range; Cluttered environments; Dense canopy; High resolution remote sensing; Range-based; Reachability, Antennas
Department/Centre:	Division of Electrical Sciences > Computer Science & Automation Division of Interdisciplinary Sciences > Robert Bosch Centre for Cyber Physical Systems
Date Deposited:	24 Sep 2024 10:03
Last Modified:	24 Sep 2024 10:03
URI:	http://eprints.iisc.ac.in/id/eprint/85630

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