Multi-obstacle avoidance for UAVs in indoor applications

Unmanned Aerial Vehicles (UAVs) have seen increased use in indoor operation with applications to disaster recovery, inspection in manufacturing industry, and in health care system. For this reason, it is necessary to develop an obstacle avoidance scheme for UAVs flying under limited altitude. This work is focused on multi obstacle avoidance for quadcopter type UAV. A collision-free margin was modeled into the geometry of the obstacles before a navigation path was generated. The strategy, namely Simple Navigation Algorithm used Artificial Navigation Potential to generate a new way point for the flying robot. The approach was verified using MATLAB.