Omnidirectional Solid-State mmWave Radar Perception for UAV Power Line Collision Avoidance
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arXiv
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| Hauptverfasser: | , |
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| Format: | Preprint |
| Veröffentlicht: |
2026
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| _version_ | 1866915770415448064 |
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| author | Malle, Nicolaj Haarhøj Ebeid, Emad |
| author_facet | Malle, Nicolaj Haarhøj Ebeid, Emad |
| contents | 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 provides spherical sensing coverage around a small UAV for robust power line detection and avoidance. The system integrates multiple 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. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2602_03229 |
| institution | arXiv |
| publishDate | 2026 |
| record_format | arxiv |
| spellingShingle | Omnidirectional Solid-State mmWave Radar Perception for UAV Power Line Collision Avoidance Malle, Nicolaj Haarhøj Ebeid, Emad Robotics 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 provides spherical sensing coverage around a small UAV for robust power line detection and avoidance. The system integrates multiple 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. |
| title | Omnidirectional Solid-State mmWave Radar Perception for UAV Power Line Collision Avoidance |
| topic | Robotics |
| url | https://arxiv.org/abs/2602.03229 |