TY  - JOUR
T1  - A Survey of Onboard Sensors for Quadrotor’s Collision Avoidance System
AU - Sabikan, Sulaiman AU - Wahyudi Nawawi, Sophan AU - Sudin, Shahdan 
JO  - Journal of Engineering and Applied Sciences
VL  - 12
IS  - 16
SP  - 4138
EP  - 4143
PY  - 2017
DA  - 2001/08/19
SN  - 1816-949x
DO  - jeasci.2017.4138.4143
UR  - https://makhillpublications.co/view-article.php?doi=jeasci.2017.4138.4143
KW  - Obstacle detection
KW  -collision avoidance
KW  -quadrotor
KW  -UAV
KW  -appropriate
KW  -reactive
AB  - The quadrotor control system with the reactive Collision Avoidance System (CAS) function always
require environmental information acquired directly from the onboard sensors. Without the input instruments,
quadrotor system may not function to its full potential. In some cases, sensor capability is undermining the
quadcopter collision avoidance algorithm and reduces the overall system performance. However, an appropriate
sensor selection for a quadrotor requires special consideration such as processor capability, CAS algorithm
execution and payload constrains. Motivated by that phenomena, this study presents a survey of onboard
sensor for quadrotor CAS that has been developed and implemented. Fundamental collision avoidance system
frameworks, some important issues in quadrotors CAS design requirements, several collision avoidance
algorithms from previous works and sensor selection considerations are reviewed. Furthermore, three different
practical sensors that were used in quadrotors system are nominated in this study including ultrasonic sensor,
vision sensor and LIDAR. The advantages of each onboard sensors for collision avoidance are summarized
in the conclusion.
ER  -