Obstacle detection and collision avoidance using ultrasonic sensors for RC multirotors

Abstract

This paper proposes a novel approach to obstacle detection and collision avoidance using ultrasonic sensors in indoor environment. The aim was to develop an autonomous flying quad-copter for indoor applications. The approach has been implemented and tested in variety of environments consisting of obstacles of varying heights and dimly-lit conditions. Indoor applications present a major problem of space limitation. Without carefree maneuvering, one might end up hurting oneself or damaging the quad-copter. Using ultrasonic sensors, this problem can be eliminated to an appreciable extent. A hardware design has been proposed after testing and experimentation, followed by an algorithm for computer assisted maneuvering in static indoor environment. The outcomes have been graphically depicted and accompanied by an extensive discussion.