Home

Overview

Collision Avoidance Library is a framework for testing and benchmark collision avoidance strategies for drones in general. It provides the infrastructure for the development and testing of new collision detection and collision avoidance algorithms, along with some base implementations that can be used in combination for testing and validation. Besides the main library, the project is also provides and automated test environment and tools for running the detection and avoidance implementations.

• Quickstart Guide
  • Install the Pre-Requisites
  • Get the Source
  • Compiling
  • Running the Simulation
• Basic Tutorial
  • Program Skeleton
  • Loading a Vehicle
  • Loading a Sensor
  • Loading a Detector
  • Loading an Avoidance Strategy
  • Putting it all Together
  • The Final App
• Advanced Tutorial
  • Writing a custom Sensor
  • Writing a custom Vehicle
  • Writing a custom Detector
  • Writing a custom Avoidance Strategy
  • Wrapping it up
• Code Structure
• Avoidance
  • Quadcopter Shift Avoidance
  • Quadcopter Stop Avoidance
  • Quadcopter VFF Avoidance
• Detectors
  • Depth Image Obstacle Detector
  • Depth Image Polar Histogram Detector
  • Depth Image Straight Line Detector
• Samples
• Sensors
• Testbed
• Tools
• Vehicles