This research paper presents a novel low computational approach for navigating a micro UAV (Unmanned Aerial Vehicle) through narrow passages using only its onboard camera feed and a PID control system. The proposed method uses edge detection and homography techniques to extract the key features of the passage from the camera feed, and then employs a tuned PID controller to guide the UAV through and out of the passage while avoiding collisions with the walls. To evaluate the effectiveness of the proposed approach, a series of experiments were conducted using a micro-UAV navigating in and out of a custom-built test environment (constrained rectangular box). The results demonstrate that the system is able to successfully guide the UAV through the passages while avoiding collisions with the walls.


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    Titel :

    Vision Based Micro-UAV Navigation Through Narrow Passages


    Beteiligte:
    Kumar, Jayakant (Autor:in) / Himanshu (Autor:in) / Kandath, Harikumar (Autor:in) / Agrawal, Pooja (Autor:in)


    Erscheinungsdatum :

    01.11.2023


    Format / Umfang :

    3719380 byte





    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



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