Autonomous Obstacle Avoidance and Maneuvering on a Vision-Guided MAV Using On-Board Processing

摘要：

We present a novel stereo-based obstacle avoidance system on a vision-guided micro air vehicle (MAV) that is capable of fully autonomous maneuvers in unknown and dynamic environments. All algorithms run exclusively on the vehicle’s on-board computer, and at high frequencies that allow the MAV to react quickly to obstacles appearing in its flight trajectory. Our MAV platform is a quadrotor aircraft equipped with an inertial measurement unit and two stereo rigs. An obstacle mapping algorithm processes stereo images, producing a 3D map representation of the environment; at the same time, a dynamic anytime path planner plans a collision-free path to a goal point.

作者: Lionel Heng Lorenz Meier Petri Tanskanen Friedrich Fraundorfer Marc Pollefeys

作者单位: Computer Vision and Geometry Lab,ETH Zurich,8092 Zurich,Switzerland

会议类型: 国际会议

会议名称: 2011 IEEE International Conference on Robotics and Automation(2011年IEEE世界机器人与自动化大会 ICRA 2011)

会议地点: 上海

会议语种:英文

页码: 2472-2477

在线出版日期: 2011-05-09（万方平台首次上网日期，不代表论文的发表时间）