The ability to fly at low altitude while actively avoiding collisions with the terrain and other objects is a great challenge for small unmanned aircraft. This paper builds on top of a control strategy called optiPilot whereby a series of optic-flow detectors pointed at divergent viewing directions around the aircraft main axis are linearly combined into roll and pitch commands using two sets of weights. This control strategy already proved successful at controlling flight and avoiding collisions in reactive navigation experiments. This paper shows how optiPilot can be coupled with a GPS in order to provide goal-directed, nap-of-the-earth flight control in presence of static obstacles. Two fully autonomous flights of 25 minutes each are described where a 400-gram unmanned aircraft is flying at approx. 9 m above the terrain on a circular path including two copses of trees requiring efficient collision avoidance actions.


    Zugriff

    Zugriff über TIB

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    Autonomous flight at low altitude with vision-based collision avoidance and GPS-based path following


    Beteiligte:


    Erscheinungsdatum :

    2010


    Format / Umfang :

    6 Seiten, 25 Quellen




    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Print


    Sprache :

    Englisch






    Computer Vision based Animal Collision Avoidance Framework for Autonomous Vehicles

    Gupta, Savyasachi / Chand, Dhananjai / Kavati, Ilaiah | ArXiv | 2020

    Freier Zugriff

    Autonomous Vision-Based UAV Landing with Collision Avoidance Using Deep Learning

    Liao, Tianpei / Haridevan, Amal / Liu, Yibo et al. | Springer Verlag | 2022


    Vision-based cooperative collision avoidance

    GOMEZ GUTIERREZ DAVID / CAMPOS MACIAS LEOBARDO / ALDANA LOPEZ RODRIGO et al. | Europäisches Patentamt | 2020

    Freier Zugriff