Vision Based Collision Avoidance of Multi-Rotor UAVs using Optical Flow
This paper is focused on dynamic modeling and control system design and vision based collision avoidance for Multi-Rotor UAVs. Multi-Rotor UAVs are defined as the rotary-winged unmanned aerial vehicles with multiple number of rotors. These Multi-Rotor UAVs can be utilized in military situations such as surveillance and reconnaissance. Also, Multi-Rotor UAVs can be used in obtaining visual information from steep terrains or disastrous sites. In this paper, Quad-Rotor model is introduced as well as its control system, which is designed based on PID autopilot and vision-based collision avoidance control technique. Additionally, in order for a UAV to navigate safely in places such as buildings and offices with number of obstacles, there must be an avoidance algorithm installed in UAV’s hardware, which should include detection of the obstacle, avoidance maneuver, etc. In this paper, Optical Flow method, one of the vision-based collision avoidance techniques, is introduced, and Multi-Rotor UAV’s collision avoidance simulations are conducted in various virtual environments in order to guarantee its avoidance performance.
Collision Avoidance Optical Flow Multi-Rotor UAV Quad-Rotor,Tri-Rotor Balance Strategy
Dong-Wan Yoo Dae-Yeon Won Min-Jea Tahk
Department of Aerospace Engineering, Korea Advanced Institute of Science and Technology333 Gwahangro Department of Aerospace Engineering, Korea Advanced Institute of Science and Technology 333 Gwahangr
国际会议
2011年亚太航空航天技术学术会议(APISAT 2011)
澳大利亚
英文
1-10
2011-02-28（万方平台首次上网日期，不代表论文的发表时间）