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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    Title :

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


    Contributors:
    Ning, Junqing (author) / Zhang, Haotian (author) / Quan, Quan (author)


    Publication date :

    2022-06-21


    Size :

    3837158 byte





    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



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