Gandhi, Manav2022-06-232022-06-232022-06-22vt_gsexam:35165http://hdl.handle.net/10919/110893As UASs (Uncrewed Aerial System) are further integrated into operations, the need for on-board environmental perception and sensing is necessitated. An accurate and reliable creation of a 3D map resembling an aircraft's surrounding is crucial for accurate collision avoidance and path planning. Consumer UASs are now being equipped with sensors to fulfill such a requirement – but no system has been proven as capable of being fully relied upon. With many sensing options available, there are several constraints regarding size, weight, and cost that must be considered when developing a sensing solution. Additionally, the robustness of the system must not be diminished when moving to a system that minimizes size, weight, or cost. An analysis of different sensing technologies that small rotary-wing aircraft (below 25kg) can be outfitted with for collision avoidance is performed. Several sensing technologies are initially compared through technology analyses and controlled experiments. The topmost systems were then further integrated onto a small low-cost quadcopter for flight testing and data acquisition. Ultimately, a fusion between stereo vision imagery and radar was deemed the most reliable method for providing environmental data needed for collision avoidance.ETDenIn CopyrightUASDroneCollision AvoidanceObstacleThesis