Infrared Temperature Sensor for Micro Aerial Vehicle Obstacle

Avoidance Sensor
Widyawardana Adiprawita1*, Adieb Aryasepta Haryadi1, Arief Syaichu Rochman1
1
School of Electrical Engineering and Informatics, Bandung Institute of Technology,
Ganesha 10, Bandung, Indonesia

This research described how thermal sensors can be used as an obstacle detection sensor and further more an obstacle detection sensor
configuration is proposed. From research conducted, it was concluded that the detection of obstacles using thermal sensors can be done by
determining the threshold value which is determined by four methods of choice. The selections of method are compromised between the
desired level of accuracy and speed of data processing difficulties. For the proposed configuration of obstacle detection sensors, the author
considers the design can be applied to simple UAV operation.

"The sky above is typically Brighter Than the earth

1 Introduction
Unmanned aerial vehicles (UAVs) are playing increasingly
prominent roles in defense programs and strategy around the world.
Technology advancements have enabled the development of large
UAVs and the creation of smaller, increasingly capable UAVs. The
focus of this article is on smaller fixed wing miniature aerial vehicles
(MAVs), which range in size from .25–2 m in wingspan.
Critical to the more widespread use of MAVs is making them
easy to use by non pilots, such as scientists, forest firefighters, law
enforcement officers, or military ground troops. One key capability
for facilitating ease of use is the ability to sense and avoid obstacles,
both natural and manmade. Many of the applications cited require
MAVs to fly at low altitudes in close proximity to structures or
terrain.
Performing obstacle and terrain avoidance from a fixed wing
MAV platform is challenging for several reasons. The limited
payload and power availability of MAV platforms place significant
restrictions on the size, weight, and power requirements of potential
sensors. Sensors such as scanning laser detection and ranging
(LADAR) and radar are typically too large and heavy for MAVs.
Related to limits on sensor payload are those on computing resources.
Vision based sensor is also impractical to be utilized, because the
need for heavy computation makes, the needed calculation has to be
conducted off board the UAV. For most MAVs, the primary
computational resource is the excess capacity in the autopilot
microcontroller. Additional computational capacity can be added, but
computers such as PC104-based systems generally exceed the
payload capacity of MAVs; smaller microcontrollers are typically
used.
Based on previous autopilot development based on infrared
temperature measurement between sky and ground to determine the
horizon, a new alternative of obstacle avoidance sensor configuration
for MAV is researched. This new sensor configuration will be based
on difference of infrared temperature signature between sky and
obstacle. The new proposed sensor will be light weight, low cost, can
work day and night and can detect long range obstacle.
below and a simple visual spectrum, photoelectric, optical
brightness Could conceivably based system resolves the
horizon position in most daytime circumstances",
thermal sensors can be applied to UAVs as detection
horizon line. Referring from the paper, the authors
hypothesize that the common obstacles encountered UAVs
in operation: trees, buildings, or hills, has similar
characteristics to the earth, namely temperature higher than
the sky.
Furthermore the obstacles will be detected with thermal
sensor, and this research will try to characterize the
obstacle based on their thermal signature.
3 System Design
3.1 Hardware Design
The first designed hardware consists of a minimum
system microcontroller module, sensor module, and serial
communication module. The output of the SDA and SCL
pins of the thermal sensors are connected to the
microcontroller’s TWI, while RXD and TXD pin of the
serial communication module each connected with RXD
and TXD pins on the microcontroller. Then the serial
communication module can be connected to PC.
Sensor Module
Minimum System
Microcontroller
Module
Serial
Communication
Module
Figure 1 : Hardware Block Diagram

2 Basic Theory

Thermal sensing concept has actually been applied to the UAV.

Referring to the paper titled "Horizon Sensing Attitude Stabilization:
A VMC Autopilot," by B. Taylor, C. Bil, S. Watkins, and G. Egan
with his quote Figure 2 : Hardware Implementation

* Responsible author. E-mail: wadiprawita@stei.itb.ac.id

 This first version of hardware will only accommodate data
collection for obstacle classification analysis of combinations of
several conditions.
The final version of the hardware will consist several sensor
which will be utilized for obstacle avoidance on board the MAV.

3.2 Software Design

The software is developed incrementally, with the following

stages :
• The first version only accommodates thermal sensing for
data reading from thermal sensor. This first version will be
utilized to conduct many experiments of several Figure 4: Single Sensor Testing
combinations of conditions which will be analyzed for free
space or obstacle classification. The evaluation results show that the system is running
• The second version includes data reading algorithm from properly, the sensor reading is stable, and the difference in
sensor and algorithm for free space (denoted by SKY) or temperature data of each object is relatively significant.
obstacle (denoted by OBS) classification. The algorithm
will be determined by the analysis of combinations of
several conditions.
• The final version will include processing algorithm for
three sensors, and simple avoidance algorithm based on the
free space or obstacle classification obtained from the three
sensors.
STAR
BEGIN
T

Initiate library
Initiate variable
Initiate serial

Read sensor data Figure 5: Single Sensor Testing Results for 35o FoV
Sensor
Communication
YES YES
problem?

END
NO

Data error?

NO

Sensor data

Figure 3 : Flowchart of The First Version Software
3.3 Single Sensor Testing
This test is conducted at inside our laboratory (indoor
environment). This test is carried out by facing the sensor sensitive
window to the
• room’s ceiling with a distance of 190 cm,
• hand’s palm at 20cm distance,
• hand’s palm at 40cm distance.
Tests carried out using two types of sensors: the 10o FoV sensor
and the 35o FoVsensor.
Figure 5: Single Sensor Testing Results for 10o FoV
Sensor
3.4 Data Collection
Place of data collection was in two different sites:
Achmad Bakrie Building 2nd floor (our campus) and
Marbella Hill. In Achmad Bakrie Building, there are five
points of OBS data acquisition, while at Marbella Hill there
is only one OBS data collection point. At each site, the
temperature of the sky is also measured as the SKY data.
Total points of data are eight. Variables recorded in this
data collection are the type of sensor, types of obstacle,
distance of obstacle, time stamp, and weather conditions.
 calculated threshold 14542 14576
corrected threshold 14453,86236 14575,07837

Criteria of determining the threshold value is not met,

Figure 6: Model of First Data Collection Site The Achmad Bakri
Building
either on the 10o FoV sensor type and 35o FoV sensor type.
On the 35o FoV sensor type the SKY data set overlaps with
OBS data set, while in 10o FoV sensor type the SKY MAX
value equals to MIN OBS. Corrected threshold value is
determined from the minimum value between μMIN OBS -
2σMIN OBS with the calculated threshold value. So this
correted threshold value will categorize the overlap data set
as OBS.
4.2 Method II

In Method II, the only ignored variable is weather

variable.

Table 3: Threshold Value of Method II for 35o FoV Sensor

35o FoV Sensor
Mornin Afternoo Evenin Night
SK MAX SKY g
14408 n
14561 g
14350 14122
Y µMAX SKY + 2σMAX 14662,3 14382, 14136,1
Figure 7: Model of Second Data Collection Site The Marbella 4
14857,74
45 9
OB MINSKY OBS 14560 14731 14704 14523
Hill S µMIN OBS - 2σMIN OBS 14575,6 14722,78 14668, 14453,8
Calculated threshold 7
14484 14646 37
14527 6
14322,5
Corrected threshold 14484 14646 14527 14322,5
4 Results and Analysis
Table 4: Threshold Value of Method II for 10o FoV Sensor
To detect the presence or absence of obstacle a threshold value 10o FoV Sensor
will be determined from data analysis. This threshold value will be Mornin Afternoo Evenin Night
SK MAX SKY g
14440 n
14576 g
14310 14157
the center value of maximum SKY and minimum OBS. Y µMAX SKY + 2σMAX 14816,2 14349, 14167,6
14683,19
OB MINSKY OBS 3
14760 14978 4
14843 6
14576
S µMIN OBS - 2σMIN OBS 14722,2 14760,94 14782, 14575,0
Calculated threshold 3
14600 14777 11
14576, 8
14366,5
Corrected threshold 14600 14760,94 5
14576, 14366,5
5

Criteria of determining the threshold value is not met in

Figure 8: Threshold Value Determination
The following simple formula will be used for threshold value
determination :
morning and afternoon, either on the 10o FoV sensor type
and 35o FoV sensor type. This condition happens because
there is overlap between µMIN OBS - 2σMIN OBS and
µMAX SKY - 2σMAX SKY. Corrected threshold value is
determined from the minimum value between μMIN OBS -
2σMIN OBS with the calculated threshold value. So this
correted threshold value will categorize the overlap data set
as OBS.
For evening and night data, the calculated threshold
value has fulfill the criteria. No correction needed for this
data category.

4.3 Method III

satisfying the following condition
• MIN OBS > MAX SKY In Method II, the only ignored variable is time variable.
• (µOBS - 2σOBS) > THRESHOLD > (µSKY + 2σSKY)
• And samples between 2σ are more than 90% Table 5: Threshold Value of Method III
with 35o FoV Sensor 10o FoV Sensor
• µ is mean of sample clear
sky
cloudy clear
sky
cloudy
MAX SKY 14561 14526 14342 14576
• σ is standard deviation (1) SKY
µMAX SKY + 2σMAX 14857,7 14804,9 14683,1 14816,2
4.1 Method I OB MINSKY OBS 4
14544 1
14523 9
14753 3
14576
S µMIN OBS - 2σMIN OBS 14575,6 14453,8 14722,2 14575,0
Calculated threshold 7
14552,5 6
14524,5 3
14547,5 8
14576
In Method I, time and weather variables are ignored. Corrected threshold 14544 14453,8 14547,5 14575,0
6 8

Table 2: Threshold Value of Method I Criteria of determining the threshold value is not met,
35o FoV 10o FoV
SK MAX SKY Sensor
14561 Sensor
14576 either on the 10o FoV sensor type and 35o FoV sensor type.
Y µMAX SKY + 2σMAX 14857,74021 14816,23307 On the 35o FoV sensor type the SKY data set overlaps with
OB MINSKY OBS 14523 14576 OBS data set, while in 10o FoV sensor type the SKY MAX
S µMIN OBS - 2σMIN OBS 14453,86236 14575,07837
value equals to MIN OBS. Corrected threshold value is determined • GPS receiver to determine time
from the minimum value between μMIN OBS - 2σMIN OBS with the • Hummidity and pressure sensor combined with
calculated threshold value. So this correted threshold value will ambience temperature sensor to determine
categorize the overlap data set as OBS. weather

4.4 Method IV

In Method IV, all variables are used.

Table 6: Threshold Value of Method IV

for 35o FoV Sensor with Clear Sky Condition
Mornin Afternoo Evenin Night
SK MAX SKY g
13708 n
14561 g
13884 14087
Y µMAX SKY + 2σMAX 13736,6 14857,74 13902, 14100,1
OB MINSKY OBS 6
14560 14731 27
14766 6
14544
S µMIN OBS - 2σMIN OBS 14575,6 14722,78 14770, 14585,0
Calculated threshold 7
14134 14646 78
14325 1
14315,5 Figure 9: Final Sensor Configuration
Corrected threshold 14134 14646 14325 14315,5

Table 7: Threshold Value of Method IV 5.2 Software

for 35o FoV Sensor with Cloudy Condition
Mornin Afternoo Evenin Night
SK MAX SKY g
14408 n
14526 g
14350 14122
In the final configuration, the software output is
Y µMAX SKY + 2σMAX 14662,3 14804,91 14382, 14136,1 displayed on a computer is the direction of the maneuver.
OB MINSKY OBS 4
14636 14923 45
14704 9
14523 Determination of the maneuvers performed by comparing
S 14640,5 14668, 14453,8
µMIN OBS - 2σMIN OBS
6
14916,88
37 6
the data readings of three sensors with threshold values. To
Calculated threshold 14522 14724,5 14527 14322,5
be used together in one bus, each sensor must first be
Corrected threshold 14522 14724,5 14527 14322,5
assigned a unique slave address. Slave address assignment
for each sensor is done outside the main thread.
Table 8: Threshold Value of Method IV BEGIN

for 10o FoV Sensor with Clear Sky Condition

Mornin Afternoo Evenin Night Initiate library
Initiate variable

SK MAX SKY g
13631 n
14342 g
13813 14157 Initiate serial

Y µMAX SKY + 2σMAX 13639,2 14683,19 13804, 14167,6

OB MINSKY OBS 1
14760 14978 67
14953 6
14753 Read sensor 1 data
Read sensor 2 data
Read sensor 3 data
S µMIN OBS - 2σMIN OBS 14722,2 14916,98 14984, 14782,4
Calculated threshold 3
14195,5 14660 09
14383 8
14455
Corrected threshold 14195,5 14660 14383 14455 Communication
problem? YES
YES

NO END

Table 9: Threshold Value of Method IV Data error?

for 10o FoV Sensor with Cloudy Condition

Mornin Afternoo Evenin Night NO

SK MAX SKY g
14440 n
14576 g
14310 14125 Process sensor 1 data
Process sensor 2 data
Y µMAX SKY + 2σMAX 14816,2 14349,4 14349, 14135,6 Process sensor 3 data

OB MINSKY OBS 3
14760 15035 4
14843 6
14576
S µMIN OBS - 2σMIN OBS 14760,9 14760,94 14782, 14575,0 Determine maneuver

Calculated threshold 4
14600 14805,5 11
14576, 8
14350,5
direction

Corrected threshold 14600 14760,94 5

14576, 14350,5
5 Maneuver
direction

In almost all cases in method IV, the calculated threshold value

has fulfill the criteria, so no correction needed for this value.
But in 10o FoV Sensor-cloudy-afternoon condition, the (µ -
2σOBS) > THRESHOLD > (µ + 2σSKY) criteria is not fulfilled. In
this case, the corrected value is determined from the minimum value
between μMIN OBS - 2σMIN OBS with the calculated threshold value. So
this correted threshold value will categorize the overlap data set as Figure 10 : Flowchart of The Final Configuration
OBS. Software

Here is the pseudo code of the determine maneuver

5 Final Sensor Configuration direction (sensor 1 is left sensor, sensor 2 is facing forward
5.1 Hardware sensor, and sensor 3 is right sensor) :
infinite loop
if sensor 2 detect SKY maintain course
For the proposed final sensor configuration, three thermal sensors
else if sensor 2 detect OBS
are: one 10o FoV sensor type (facing forward) and two 35 o FoV if sensor 1 detect OBS
sensor type types (facing slightly left and right), with inter sensor and sensor 3 detect SKY
angle of 45o. The 10o FoV sensor type is used as main obstacle sensor then turn right
because it has the farthest sensing capability. The 35o FoV sensor type until sensor 2 detect SKY
is used on left and right sensing, because this sensor has broadest else if sensor 1 detect SKY
field of view to find the more probability of open space. and sensor 3 detect OBS
then turn left
Method I to IV can be selected depends on the additional sensor
until sensor 2 detect SKY
available and computation power. Such as :
 else if sensor 1 detect OBS
and sensor 3 detect OBS
then pull up
until sensor 2 detect SKY
(2)

6 Conclusion
• Obstacle detection utilizing thermal sensor can be done by
determining threshold value between obstacle and sky. Four
methods are available based on compromise between
additional sensor availability and processing power
• The proposed obstacle detection sensor configuration with
three thermal sensor can be applied in simple UAV
operation to determine maneuver direction
• The use of small field of view thermal sensor as obstacle
detection sensor can be applied to MAV

References

[1] S. Griffiths, J. Saunders, A. Curtis, B. Barber, T. McLain, R. Beard,

Obstacle and Terrain Avoidance for Miniature Aerial Vehicles -
Advances in Unmanned Aerial Vehicle - State of the Art and the Road
to Autonomy, Springer, 2007

[2] SBS Implementers Forum. System Management Bus (SMBus)

Specification Version 2.0. s.l. : SBS Implementers Forum, 2000.

[3] Taylor, B., et al .Horizon Sensing Attitude Stabilisation - A VMC

Autopilot. Bristol : s.n., 2003.