Presentation Title

Autonomous 3-D Mapping and collision avoidance using LIDAR and Unmanned Aerial Vehicle.

Start Date

November 2016

End Date

November 2016

Location

HUB 265

Type of Presentation

Oral Talk

Abstract

This presentation talks about the work being done at Cal Poly Pomona on using unmanned aerial vehicle (UAVs) FOR autonomous 3-D terrain mapping. A Sig Kadet Senior Sport UAV airplane has been equipped with an autopilot for autonomous waypoint operation and a LIDAR for live-streaming 3-D Mapping. A flight management software is programmed to autonomously fly around selected pin-points in a targeted location. An Intel NUC processor is used for the implementation of the algorithm written in C programming language, storage of data received from VPL-16 LIDAR, and for implementing collision avoidance algorithm. A Bullet M transmitter is used to transmit live feed data from the LIDAR sensor to the VeloView Software at the ground station, which can be viewed and saved. Meanwhile, the NUC serves as a second interface which collects all the raw data and a executes a script of the code to convert it into an xyz point cloud. The XYZ point cloud is meshed together according to their timestamp to solidify a solidify a 3-D Visualization using LAStools open source software. The LIDAR also measures the distance to any obstacles on the flight path the UAV, thus allowing the UAV to avoid any collision with the obstacles.

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Nov 12th, 10:15 AM Nov 12th, 10:30 AM

Autonomous 3-D Mapping and collision avoidance using LIDAR and Unmanned Aerial Vehicle.

HUB 265

This presentation talks about the work being done at Cal Poly Pomona on using unmanned aerial vehicle (UAVs) FOR autonomous 3-D terrain mapping. A Sig Kadet Senior Sport UAV airplane has been equipped with an autopilot for autonomous waypoint operation and a LIDAR for live-streaming 3-D Mapping. A flight management software is programmed to autonomously fly around selected pin-points in a targeted location. An Intel NUC processor is used for the implementation of the algorithm written in C programming language, storage of data received from VPL-16 LIDAR, and for implementing collision avoidance algorithm. A Bullet M transmitter is used to transmit live feed data from the LIDAR sensor to the VeloView Software at the ground station, which can be viewed and saved. Meanwhile, the NUC serves as a second interface which collects all the raw data and a executes a script of the code to convert it into an xyz point cloud. The XYZ point cloud is meshed together according to their timestamp to solidify a solidify a 3-D Visualization using LAStools open source software. The LIDAR also measures the distance to any obstacles on the flight path the UAV, thus allowing the UAV to avoid any collision with the obstacles.