Vision based control for micro aerial vehicles : Application to sense and avoid
Contribuinte(s) |
Sen Gupta, Gourab Bailey, Donald Demidenko, Serge Carnegie, Dale |
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Data(s) |
2013
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Resumo |
This work presents a collision avoidance approach based on omnidirectional cameras that does not require the estimation of range between two platforms to resolve a collision encounter. Our method achieves minimum separation between the two vehicles involved by maximising the view-angle given by the omnidirectional sensor. Only visual information is used to achieve avoidance under a bearing- only visual servoing approach. We provide theoretical problem formulation, as well as results from real flights using small quadrotors |
Formato |
application/pdf |
Identificador | |
Publicador |
Springer Berlin Heidelberg |
Relação |
http://eprints.qut.edu.au/60602/1/book-chap.pdf DOI:10.1007/978-3-642-37387-9_10 Mejias, Luis, Mondragon Bernal, Ivan F., & Campoy, Pascual (2013) Vision based control for micro aerial vehicles : Application to sense and avoid. In Sen Gupta, Gourab, Bailey, Donald, Demidenko, Serge, & Carnegie, Dale (Eds.) Recent Advances in Robotics and Automation. Springer Berlin Heidelberg, pp. 127-141. |
Direitos |
Copyright 2013 Springer-Verlag Berlin Heidelberg author can archive pre-print (ie pre-refereeing) |
Fonte |
Australian Research Centre for Aerospace Automation; School of Electrical Engineering & Computer Science; Science & Engineering Faculty |
Palavras-Chave | #080104 Computer Vision #090104 Aircraft Performance and Flight Control Systems #UAV Collision Avoidance #Aerial Robotics #Omnidirectional Vision #Sense and Avoid |
Tipo |
Book Chapter |