Obstacle Detection and Safe Landing Site Selection for Delivery Drones at Delivery Destinations without Prior Information

Min Chol Seo; Sang Ik Han

doi:10.22680/kasa2024.16.2.020

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2024 Vol.16, Issue 2 Preview Page Next Page

Obstacle Detection and Safe Landing Site Selection for Delivery Drones at Delivery Destinations without Prior Information 사전 정보가 없는 배송지에서 장애물 탐지 및 배송 드론의 안전 착륙 지점 선정 기법

30 June 2024. pp. 20-26

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Abstract

The delivery using drones has been attracting attention because it can innovatively reduce the delivery time from the time of order to completion of delivery compared to the current delivery system, and there have been pilot projects conducted for safe drone delivery. However, the current drone delivery system has the disadvantage of limiting the operational efficiency offered by fully autonomous delivery drones in that drones mainly deliver goods to pre-set landing sites or delivery bases, and the final delivery is still made by humans. In this paper, to overcome these limitations, we propose obstacle detection and landing site selection algorithm based on a vision sensor that enables safe drone landing at the delivery location of the product orderer, and experimentally prove the possibility of station-to-door delivery. The proposed algorithm forms a 3D map of point cloud based on simultaneous localization and mapping (SLAM) technology and presents a grid segmentation technique, allowing drones to stably find a landing site even in places without prior information. We aims to verify the performance of the proposed algorithm through streaming data received from the drone.

Keywords

Delivery drone(배송 드론)

Autonomous landing site selection(자율 착륙 지점 선정)

Obstacle detection(장애물 탐지)

SLAM(동시적 위치 추정 및 지도작성)

Grid segmentation(그리드 분할)

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Information

Publisher :Korean Auto-vehicle Safety Association
Publisher(Ko) :한국자동차모빌리티안전학회
Journal Title :Journal of Auto-vehicle Safety Association
Journal Title(Ko) :자동차안전학회지
Volume : 16
No :2
Pages :20-26
Received Date : 2024-04-01
Accepted Date : 2024-04-16
DOI :https://doi.org/10.22680/kasa2024.16.2.020

Journal of Auto-vehicle Safety Association ISSN:2005-9396(Print) 자동차안전학회지

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