E-ISSN 2705-3954 | ISSN 0794-4756
 

Original Research 


Design and Simulation of Collision Avoidance Algorithm for an Unmanned Aerial Vehicle

Emmanuel Adotse Otsapa, Suleiman Muhammad Sani, Emmanuel Kasai Akut, Mukhtar Bello, Oluwatobiloba Alade Ayofe.

Abstract
In a complex environment, autonomous and agile flight for an Unmanned Aerial Vehicle (UAV) is an essential problem that must be solved. This paper describes the design and simulation of an obstacle avoidance algorithm for a quadrotor UAV using low-cost ultrasonic and infrared sensors. The quadrotor operated by the control algorithm was able to fly and reach a height of 1.2 m in 5 seconds, hover for 10 seconds, then proceed towards its target obstacle and by implementing a collision avoidance strategy with the optimal input signal from the Kalman filter, avoided the target obstacle at the 50cm mark, as designed. Our research has shown that the algorithm has a low computational cost, applied data fusion technique and can be implemented using low-cost sensors and thus provides a cheap and effective navigation method for UAVs.

Key words: UVA; Obstacle Avoidance; Kalman Filter, Data Fusion; Ultrasonic Sensor, Infrared Sensor


 
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How to Cite this Article
Pubmed Style

Otsapa EA, Sani SM, Akut EK, Bello M, Ayofe OA, . Design and Simulation of Collision Avoidance Algorithm for an Unmanned Aerial Vehicle. NJE. 2023; 30(2): 37-42. doi:10.5455/nje.2023.30.02.06


Web Style

Otsapa EA, Sani SM, Akut EK, Bello M, Ayofe OA, . Design and Simulation of Collision Avoidance Algorithm for an Unmanned Aerial Vehicle. https://www.njeabu.com.ng/?mno=134947 [Access: January 04, 2024]. doi:10.5455/nje.2023.30.02.06


AMA (American Medical Association) Style

Otsapa EA, Sani SM, Akut EK, Bello M, Ayofe OA, . Design and Simulation of Collision Avoidance Algorithm for an Unmanned Aerial Vehicle. NJE. 2023; 30(2): 37-42. doi:10.5455/nje.2023.30.02.06



Vancouver/ICMJE Style

Otsapa EA, Sani SM, Akut EK, Bello M, Ayofe OA, . Design and Simulation of Collision Avoidance Algorithm for an Unmanned Aerial Vehicle. NJE. (2023), [cited January 04, 2024]; 30(2): 37-42. doi:10.5455/nje.2023.30.02.06



Harvard Style

Otsapa, E. A., Sani, S. M., Akut, E. K., Bello, M., Ayofe, O. A. & (2023) Design and Simulation of Collision Avoidance Algorithm for an Unmanned Aerial Vehicle. NJE, 30 (2), 37-42. doi:10.5455/nje.2023.30.02.06



Turabian Style

Otsapa, Emmanuel Adotse, Suleiman Muhammad Sani, Emmanuel Kasai Akut, Mukhtar Bello, Oluwatobiloba Alade Ayofe, and . 2023. Design and Simulation of Collision Avoidance Algorithm for an Unmanned Aerial Vehicle. Nigerian Journal of Engineering, 30 (2), 37-42. doi:10.5455/nje.2023.30.02.06



Chicago Style

Otsapa, Emmanuel Adotse, Suleiman Muhammad Sani, Emmanuel Kasai Akut, Mukhtar Bello, Oluwatobiloba Alade Ayofe, and . "Design and Simulation of Collision Avoidance Algorithm for an Unmanned Aerial Vehicle." Nigerian Journal of Engineering 30 (2023), 37-42. doi:10.5455/nje.2023.30.02.06



MLA (The Modern Language Association) Style

Otsapa, Emmanuel Adotse, Suleiman Muhammad Sani, Emmanuel Kasai Akut, Mukhtar Bello, Oluwatobiloba Alade Ayofe, and . "Design and Simulation of Collision Avoidance Algorithm for an Unmanned Aerial Vehicle." Nigerian Journal of Engineering 30.2 (2023), 37-42. Print. doi:10.5455/nje.2023.30.02.06



APA (American Psychological Association) Style

Otsapa, E. A., Sani, S. M., Akut, E. K., Bello, M., Ayofe, O. A. & (2023) Design and Simulation of Collision Avoidance Algorithm for an Unmanned Aerial Vehicle. Nigerian Journal of Engineering, 30 (2), 37-42. doi:10.5455/nje.2023.30.02.06