Obstacle avoidance for low-cost UAVs

被引：16

作者：

Aguilar, Wilbert G. ^{[1
,2
,3
]}

Casaliglla, Veronica P. ^{[4
]}

Polit, Jose L. ^{[4
]}

机构：

[1] Univ Fuerzas Armadas ESPE, CICTE, Sangolqui, Ecuador

[2] Univ Fuerzas Armadas ESPE, Dept Seguridad & Def, Sangolqui, Ecuador

[3] Univ Politecn Cataluna, Res Grp Knowledge Engn GREC, UPC BarcelonaTech, Barcelona, Spain

[4] Univ Fuerzas Armadas ESPE, Dept Elect & Elect, Sangolqui, Ecuador

来源：

2017 11TH IEEE INTERNATIONAL CONFERENCE ON SEMANTIC COMPUTING (ICSC) | 2017年

关键词：

UAVs; obstacle detection; SURF; control system; obstacle avoidance; NAVIGATION;

D O I：

10.1109/ICSC.2017.96

中图分类号：

TP18 [人工智能理论];

学科分类号：

081104 ; 0812 ; 0835 ; 1405 ;

摘要：

The goal of our work is an obstacle avoidance system for MAVs using only a monocular camera. The proposed system detects obstacles in real-time from the micro aerial vehicle (MAV) and compares with the stored images in a database, if there is a match acts the control law to avoid it. Our proposal includes the feature point detector Speeded Up Robust Features (SURF) for fast processing of obstacles, also we implemented a control law to avoid it. The results of our system were tested in real time on a commercial low-cost MAV, it was able to detect and avoid an obstacle on unknown positions and complete the path. We check our algorithm on many successful flight experiments.

引用

页码：503 / 508

页数：6

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