This paper presents a vision-based collision avoidance technique for small and miniature air vehicles (MAVs) using local-level frame mapping and path planning. Using computer vision algorithms, a depth map that represents the range and bearing to obstacles is obtained. Based on the depth map, we estimate the range, azimuth to, and height of obstacles using an extended Kalman filter that takes into account the correlations between obstacles. We then construct maps in the local-level frame using cylindrical coordinates for three dimensional path planning and plan Dubins paths using the rapidly-exploring random tree algorithm. The behavior of our approach is analyzed and the characteristics of the environments where the local path planning technique guarantees collision-free paths and maneuvers the MAV to a specific goal region are described. Numerical results show the proposed technique is successful in solving path planning and multiple obstacle avoidance problems for fixed wing MAVs.


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    Title :

    A vision-based collision avoidance technique for micro air vehicles using local-level frame mapping and path planning


    Contributors:
    Yu, Huili (author) / Beard, Randy (author)

    Published in:

    Autonomous Robots ; 34 , 1/2 ; 93-109


    Publication date :

    2013


    Size :

    17 Seiten, 24 Quellen




    Type of media :

    Article (Journal)


    Type of material :

    Print


    Language :

    English






    Vision-Based Three Dimensional Navigation Frame Mapping and Planning for Collision Avoidance for Micro Air Vehicles

    Yu, H. / Beard, R. / American Institute of Aeronautics and Astronautics | British Library Conference Proceedings | 2010



    Vision-Based Navigation Frame Mapping and Path Planning for Micro Air Vehicles

    Yu, H. / Beard, R. / Byrne, J. et al. | British Library Conference Proceedings | 2009