Vision-Based UAV Collision Avoidance with 2D Dynamic Safety Envelope

被引：32

作者：

Lyu, Yang ^{[1
,2
]}

Pan, Quan ^{[1
,2
]}

Zhao, Chunhui ^{[1
,2
]}

Zhang, Yizhai ^{[1
,2
,3
]}

Hu, Jinwen ^{[1
,2
]}

机构：

[1] Northwestern Polytech Univ, Xian, Peoples R China

[2] Northwestern Polytech Univ, Minist Educ, Key Lab Informat Fus Technol LIFT, Youyi West Rd 127, Xian 710072, Shaanxi, Peoples R China

[3] Northwestern Polytech Univ, Res Ctr Intelligent Robot, Youyi West Rd 127, Xian 710072, Shaanxi, Peoples R China

来源：

IEEE AEROSPACE AND ELECTRONIC SYSTEMS MAGAZINE | 2016年 / 31卷 / 07期

基金：

中国国家自然科学基金;

关键词：

AERIAL VEHICLES; NAVIGATION; ALGORITHM; INDOOR; FLIGHT; RADAR;

D O I：

10.1109/MAES.2016.150155

中图分类号：

V [航空、航天];

学科分类号：

08 ; 0825 ;

摘要：

In this article, a vision-only based collision avoidance approach was proposed for SAA of UAVs. The 2D dynamic safety envelope was first generated to capture the threat level of the non-cooperative flying intruder and guide avoidance. Two visual servoing controllers were then designed to separately implement the avoidance and the returning maneuvers. The proposed collision avoidance approach does not require distance information. We demonstrated the effectiveness of the approach through simulations and experiments. © 1986-2012 IEEE.

引用

页码：16 / 26

页数：11

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