Juan Augusto Paredes Salazar

Juan Augusto Paredes Salazar

I'm a Research Fellow at the University of Michigan with research interests in Guidance, Navigation and Control of UAVs and aerospace systems.

Obstacle Avoidance Device for Multirotor UAVs

Source of Funding: 2017 Research Project Annual Contest (CAP 2017).

The aim of the project is the development of a device that can be attached to a multicopter running the PX4 flight controller firmware to allow avoidance of obstacles in flight missions.

The main tasks performed in this project were the following:

  • Designed and fabricated prototype structure to mount LIDAR sensor and companion computer to multicopter frame.
  • Developed multirotor guidance algorithm for concurrent goal seeking and obstacle avoidance using GPS and LIDAR measurements.
  • Verified system operation and embedded controller performance through Software-in-the-Loop (SITL) simulations.

Paper

  • Obstacle Detection and Avoidance Device for Multirotor UAVs through interface with Pixhawk Flight Controller (More details)