{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,4,14]],"date-time":"2026-04-14T04:13:02Z","timestamp":1776139982954,"version":"3.50.1"},"reference-count":17,"publisher":"Emerald","issue":"2","license":[{"start":{"date-parts":[[2018,2,9]],"date-time":"2018-02-09T00:00:00Z","timestamp":1518134400000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/www.emerald.com\/insight\/site-policies"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["IR"],"published-print":{"date-parts":[[2018,4,9]]},"abstract":"<jats:sec>\n<jats:title content-type=\"abstract-subheading\">Purpose<\/jats:title>\n<jats:p>This paper aims to develop an obstacle avoidance system for a multi-rotor micro aerial vehicle (MAV) that flies in indoor environments which usually contain transparent, texture-less or moving objects.<\/jats:p>\n<\/jats:sec>\n<jats:sec>\n<jats:title content-type=\"abstract-subheading\">Design\/methodology\/approach<\/jats:title>\n<jats:p>The system adopts a combination of a stereo camera and an ultrasonic sensor to detect obstacles and extracts three-dimensional (3D) point clouds. The obstacle map is built on a coarse global map and updated by local maps generated by the recent 3D point clouds. An efficient layered A* path planning algorithm is also proposed to address the path planning in 3D space for MAVs.<\/jats:p>\n<\/jats:sec>\n<jats:sec>\n<jats:title content-type=\"abstract-subheading\">Findings<\/jats:title>\n<jats:p>The authors conducted a lot of experiments in both static and dynamic scenes. The results show that the obstacle avoidance system works reliably even when transparent or texture-less obstacles are present. The layered A* path planning algorithm is much faster than the traditional 3D algorithm and makes the system response quickly when the obstacle map has been changed because of the moving objects.<\/jats:p>\n<\/jats:sec>\n<jats:sec>\n<jats:title content-type=\"abstract-subheading\">Research limitations\/implications<\/jats:title>\n<jats:p>The limited field of view of both stereo camera and ultrasonic sensor makes the system need to change heading first before moving side to side or moving backward. But this problem could be addressed when multiple systems are mounted toward different directions on the MAV.<\/jats:p>\n<\/jats:sec>\n<jats:sec>\n<jats:title content-type=\"abstract-subheading\">Practical implications<\/jats:title>\n<jats:p>The developed approach could be valuable to applications in indoors.<\/jats:p>\n<\/jats:sec>\n<jats:sec>\n<jats:title content-type=\"abstract-subheading\">Originality\/value<\/jats:title>\n<jats:p>This paper presents a robust obstacle avoidance system and a fast layered path planning algorithm that are easy to be implemented for practical systems.<\/jats:p>\n<\/jats:sec>","DOI":"10.1108\/ir-07-2017-0126","type":"journal-article","created":{"date-parts":[[2018,6,12]],"date-time":"2018-06-12T03:57:32Z","timestamp":1528775852000},"page":"227-236","source":"Crossref","is-referenced-by-count":10,"title":["Hybrid obstacle avoidance system with vision and ultrasonic sensors for multi-rotor MAVs"],"prefix":"10.1108","volume":"45","author":[{"given":"Qiang","family":"Zhou","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Danping","family":"Zou","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Peilin","family":"Liu","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"140","published-online":{"date-parts":[[2018,2,9]]},"reference":[{"key":"key2021041507282193000_ref001","first-page":"848","article-title":"Vision based obstacle detection and avoidance for uavs using image segmentation","volume-title":"AIAA Guidance, Navigation, and Control Conference","year":"2015"},{"issue":"1\/4","key":"key2021041507282193000_ref002","first-page":"745","article-title":"A reactive method for collision avoidance in industrial environments","volume":"84","year":"2016","journal-title":"Journal of Intelligent & Robotic Systems"},{"key":"key2021041507282193000_ref003","article-title":"Obstacle avoidance system for uavs using computer vision","year":"2015"},{"key":"key2021041507282193000_ref004","first-page":"4","article-title":"Monocular vision slam for indoor aerial vehicles","volume":"2013","year":"2013","journal-title":"Journal of Electrical and Computer Engineering"},{"issue":"2","key":"key2021041507282193000_ref005","doi-asserted-by":"crossref","first-page":"840","DOI":"10.1109\/TAES.2013.6494384","article-title":"Uav path planning with tangent-plus-lyapunov vector field guidance and obstacle avoidance","volume":"49","year":"2013","journal-title":"IEEE Transactions on Aerospace and Electronic Systems"},{"issue":"2","key":"key2021041507282193000_ref006","doi-asserted-by":"crossref","first-page":"328","DOI":"10.1109\/TPAMI.2007.1166","article-title":"Stereo processing by semiglobal matching and mutual information","volume":"30","year":"2008","journal-title":"IEEE Transactions on Pattern Analysis and Machine Intelligence"},{"issue":"3","key":"key2021041507282193000_ref007","doi-asserted-by":"crossref","first-page":"189","DOI":"10.1007\/s10514-012-9321-0","article-title":"Octomap: an efficient probabilistic 3d mapping framework based on octrees","volume":"34","year":"2013","journal-title":"Autonomous Robots"},{"key":"key2021041507282193000_ref008","first-page":"807","article-title":"3d path planning and stereo-based obstacle avoidance for rotorcraft uavs","year":"2008"},{"key":"key2021041507282193000_ref009","first-page":"3309","article-title":"Combined optic-flow and stereo-based navigation of urban canyons for a uav","year":"2005"},{"key":"key2021041507282193000_ref010","first-page":"235","article-title":"Visual odometry and mapping for autonomous flight using an rgb-d camera","volume-title":"Robotics Research","year":"2017"},{"issue":"2","key":"key2021041507282193000_ref011","doi-asserted-by":"crossref","first-page":"315","DOI":"10.1002\/rob.20414","article-title":"Survey of advances in guidance, navigation, and control of unmanned rotorcraft systems","volume":"29","year":"2012","journal-title":"Journal of Field Robotics"},{"issue":"6","key":"key2021041507282193000_ref012","doi-asserted-by":"crossref","first-page":"397","DOI":"10.1108\/00022661111173270","article-title":"Obstacle avoidance for small uavs using monocular vision","volume":"83","year":"2011","journal-title":"Aircraft Engineering and Aerospace Technology"},{"key":"key2021041507282193000_ref013","first-page":"1750","article-title":"First results in detecting and avoiding frontal obstacles from a monocular camera for micro unmanned aerial vehicles","year":"2013"},{"issue":"3\/4","key":"key2021041507282193000_ref014","first-page":"503","article-title":"Multi-robot graph exploration and map building with collision avoidance: A decentralized approach","volume":"83","year":"2016","journal-title":"Journal of Intelligent & Robotic Systems"},{"key":"key2021041507282193000_ref015","first-page":"334","article-title":"Bidirectional a* search for time-dependent fast paths","year":"2008"},{"key":"key2021041507282193000_ref016","first-page":"616","article-title":"A laser obstacle warning and avoidance system for manned and unmanned aircraft","year":"2014"},{"issue":"1\/4","key":"key2021041507282193000_ref017","first-page":"1","article-title":"A 3d collision avoidance strategy for uavs in a non-cooperative environment","volume":"70","year":"2013","journal-title":"Journal of Intelligent & Robotic Systems"}],"container-title":["Industrial Robot: An International Journal"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.emerald.com\/insight\/content\/doi\/10.1108\/IR-07-2017-0126\/full\/xml","content-type":"application\/xml","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/www.emerald.com\/insight\/content\/doi\/10.1108\/IR-07-2017-0126\/full\/html","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,7,24]],"date-time":"2025-07-24T21:39:29Z","timestamp":1753393169000},"score":1,"resource":{"primary":{"URL":"http:\/\/www.emerald.com\/ir\/article\/45\/2\/227-236\/175109"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2018,2,9]]},"references-count":17,"journal-issue":{"issue":"2","published-online":{"date-parts":[[2018,2,9]]},"published-print":{"date-parts":[[2018,4,9]]}},"alternative-id":["10.1108\/IR-07-2017-0126"],"URL":"https:\/\/doi.org\/10.1108\/ir-07-2017-0126","relation":{},"ISSN":["0143-991X"],"issn-type":[{"value":"0143-991X","type":"print"}],"subject":[],"published":{"date-parts":[[2018,2,9]]}}}