Vision-based Sense and Avoidof UAVwith 2D Dynamic Safety Envelop
Sense and Avoid (SAA) has been identified as one of the most significant challenge for integrating UAV into civil airspace, and vision system has demonstrated its capacity to SAA.To deal with the depth-independent vision based sense and avoid problem, an image-based envelop formulation method is proposed and single point feature is found.Then aangle only visual servoing controller is designed to track the selected point at the same time the motion of the feature point is compensated.In the end,simulationrepresent different collision scenarios are carried out to illustrate the feasibility of the proposed method, the simulation results demonstrate that the method in this article can achieve SAA in without range information.
Sense and avoid visual servoing safety envelop UAV
YangLv QuanPan Chun-huiZhao Yi-zhaiZhang Wei Wu
Key Laboratory of Information Fusion, School of Automation, Northwestern Polytechnical University, 710072
国内会议
广州
英文
173-182
2015-05-01（万方平台首次上网日期，不代表论文的发表时间）