Obstacle Detection and Avoidance System for Unmanned Multirotors

The paper presents the simple method for obstacle detection and avoidance designed for small unmanned multi-rotors. The system is using laser scanner information and supports the pilot during the manual flights. The proposed obstacle avoidance algorithm was described in details. The main aim of the work were the in-flight test. The tests were divided into two stages- with static obstacle and with dynamic one. The results were presented in the UAV trajectories plot and PWM control signal time plots. Obtained results validate the effectiveness of the proposed collision avoidance method. Described approach helps to ensure collision free conditions for UAV operators. Also the proposed anti-collision system could be easily used in autonomous flight stages of UAVs.