Distance Estimation for Collision Avoidance of Micro Aerial Vehicles using LiDAR Sensor

This research work proposes a novel method to prevent collision in the micro aerial vehicles by calculating the distance of the obstacle prior to the collision. For distance measurement we have used the LiDAR sensor which uses the time of flight principle and, identified its operating ranges that works perfectly for the micro aerial vehicles and analyzed the errors in various operating ranges. Determining accuracy using the Root Mean Square Error and Absolute Mean Error as two parameters for three types of data classified as All calculated data, very close values and deviating range of the Result plotting graphs and calculating errors for the same. This proposed research helps in understanding the LiDAR Sensor in better way for the exploration of the range of operation of the LiDAR sensor and its applications in collision avoidance. Though the algorithm that we have done is in the Arduino UNO the same can be implemented in Pixhawk module and the control signal can be used to change the direction of the micro aerial vehicle where ever necessary.