This paper focuses on avoiding a dynamic obstacle for Micro-aerial vehicles (MAVs). Instead of estimating the depth or the 3D model of the obstacle, our method is only based on images. First, a geometric model is established, which describes the relationship between a quadcopter and a dynamic obstacle by a monocular camera. Then, based on the established geometric model and the dynamics of the quadcopter, the avoidance control command, namely the angular velocity and the thrust, are generated in real-time. Finally, both the hardware-in-the-loop simulation and the flight experiment are demonstrated to verify the effectiveness of the algorithm.


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    Titel :

    Dynamic Obstacle Avoidance of Quadcopters with Monocular Camera Based on Image-based Visual Servo


    Beteiligte:
    Ning, Junqing (Autor:in) / Zhang, Haotian (Autor:in) / Quan, Quan (Autor:in)


    Erscheinungsdatum :

    2022-06-21


    Format / Umfang :

    3837158 byte





    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



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