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dc.contributor.authorKikutis, Ramūnas
dc.contributor.authorStankūnas, Jonas
dc.contributor.authorRudinskas, Darius
dc.contributor.authorMasiulionis, Tadas
dc.date.accessioned2023-09-18T16:59:51Z
dc.date.available2023-09-18T16:59:51Z
dc.date.issued2017
dc.identifier.issn1424-8220
dc.identifier.urihttps://etalpykla.vilniustech.lt/handle/123456789/118675
dc.description.abstractCurrent research on Unmanned Aerial Vehicles (UAVs) shows a lot of interest in autonomous UAV navigation. This interest is mainly driven by the necessity to meet the rules and restrictions for small UAV flights that are issued by various international and national legal organizations. In order to lower these restrictions, new levels of automation and flight safety must be reached. In this paper, a new method for ground obstacle avoidance derived by using UAV navigation based on the Dubins paths algorithm is presented. The accuracy of the proposed method has been tested, and research results have been obtained by using Software-in-the-Loop (SITL) simulation and real UAV flights, with the measurements done with a low cost Global Navigation Satellite System (GNSS) sensor. All tests were carried out in a three-dimensional space, but the height accuracy was not assessed. The GNSS navigation data for the ground obstacle avoidance algorithm is evaluated statistically.eng
dc.formatPDF
dc.format.extentp. art. no. 2223 [1-23]
dc.format.mediumtekstas / txt
dc.language.isoeng
dc.relation.isreferencedbyAGORA
dc.relation.isreferencedbyEmbase
dc.relation.isreferencedbyScopus
dc.relation.isreferencedbyINSPEC
dc.relation.isreferencedbyMEDLINE
dc.relation.isreferencedbyScience Citation Index Expanded (Web of Science)
dc.rightsLaisvai prieinamas internete
dc.source.urihttp://www.mdpi.com/1424-8220/17/10/2223
dc.source.urihttps://talpykla.elaba.lt/elaba-fedora/objects/elaba:24168435/datastreams/MAIN/content
dc.subjectTD02 - Naujos judėjimo technologijos, intelektinės transporto sistemos / The new movement technologies, intelligent transport systems
dc.titleAdaptation of Dubins paths for UAV ground obstacle avoidance when using a low cost on-board GNSS sensor
dc.typeStraipsnis Web of Science DB / Article in Web of Science DB
dcterms.references43
dc.type.pubtypeS1 - Straipsnis Web of Science DB / Web of Science DB article
dc.contributor.institutionVilniaus Gedimino technikos universitetas
dc.contributor.facultyAntano Gustaičio aviacijos institutas / Antanas Gustaitis Aviation Institute
dc.subject.researchfieldT 003 - Transporto inžinerija / Transport engineering
dc.subject.researchfieldT 001 - Elektros ir elektronikos inžinerija / Electrical and electronic engineering
dc.subject.researchfieldT 010 - Matavimų inžinerija / Measurement engineering
dc.subject.ltspecializationsL106 - Transportas, logistika ir informacinės ir ryšių technologijos (IRT) / Transport, logistic and information and communication technologies
dc.subject.enUAV navigation
dc.subject.enGround obstacle avoidance algorithm
dc.subject.enDubins paths
dc.subject.enGNSS position measurements
dc.subject.enPosition accuracy
dcterms.sourcetitleSensors
dc.description.issueiss. 10
dc.description.volumeVol. 17
dc.publisher.nameMDPI
dc.publisher.cityBasel
dc.identifier.doi000414931500065
dc.identifier.doi2-s2.0-85030562002
dc.identifier.doi10.3390/s17102223
dc.identifier.elaba24168435


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