Omnidirectional Solid-State mmWave Radar Perception for UAV Power Line Collision Avoidance
Nicolaj Malle, Emad Ebeid
AI summary
Problem
UAVs face significant collision risks with power lines due to difficult distance assessment, thin target profiles, and limited omnidirectional sensing on small platforms. Existing radar solutions lack spherical coverage and robust avoidance strategies tailored to radar-power line interactions.
Approach
The authors mounted six compact solid-state mmWave radar modules around a UAV frame to create spherical sensing coverage, then characterized radar behavior with power lines to develop a tailored, multi-scenario detection-and-avoidance algorithm.
Key results
- Lightweight six-sensor radar architecture synthesizing omnidirectional coverage
- Characterization of radar-power line interaction showing detected points align with closest points within ±30°
- Reliable detection at ranges up to 10 m and successful avoidance at speeds exceeding 10 m/s
- Detection and avoidance of wires as thin as 1.2 mm in diameter
Why it matters
Provides a critical, all-weather safety layer for both autonomous and manually piloted UAVs operating near power infrastructure.
Abstract
Detecting and estimating distances to power lines is a challenge for both human UAV pilots and autonomous systems, which increases the risk of unintended collisions. We present a mmWave radar–based perception system that pro- vides spherical sensing coverage around a small UAV for robust power line detection and avoidance. The system integrates mul- tiple compact solid-state mmWave radar modules to synthesize an omnidirectional field of view while remaining lightweight. We characterize the sensing behavior of this omnidirectional radar arrangement in power line environments and develop a robust detection-and-avoidance algorithm tailored to that behavior. Field experiments on real power lines demonstrate reliable detection at ranges up to 10 m, successful avoidance maneuvers at flight speeds upwards of 10 m/s, and detection of wires as thin as 1.2 mm in diameter. These results indicate the approach’s suitability as an additional safety layer for both autonomous and manual UAV flight. A video demonstration of the system can be viewed in [1], and instructions and code can be found in [2].