Vision based control for micro aerial vehicles : Application to sense and avoid
Mejias, Luis, Mondragon Bernal, Ivan F., & Campoy, Pascual (2013) Vision based control for micro aerial vehicles : Application to sense and avoid. In Sen Gupta, Gourab, Bailey, Donald, Demidenko, Serge, & Carnegie, Dale (Eds.) Recent Advances in Robotics and Automation. Springer Berlin Heidelberg, pp. 127-141.
Version of published paper in Recent Advances in Robotics and Automation, volume 480 of Studies in Computational Intelligence. Springer Berlin Heidelberg
This work presents a collision avoidance approach based on omnidirectional cameras that does not require the estimation of range between two platforms to resolve a collision encounter. Our method achieves minimum separation between the two vehicles involved by maximising the view-angle given by the omnidirectional sensor. Only visual information is used to achieve avoidance under a bearing- only visual servoing approach. We provide theoretical problem formulation, as well as results from real flights using small quadrotors
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|Item Type:||Book Chapter|
|Keywords:||UAV Collision Avoidance, Aerial Robotics, Omnidirectional Vision, Sense and Avoid|
|ISBN:||9783642373879 (online) 9783642373862 (print)|
|Subjects:||Australian and New Zealand Standard Research Classification > INFORMATION AND COMPUTING SCIENCES (080000) > ARTIFICIAL INTELLIGENCE AND IMAGE PROCESSING (080100) > Computer Vision (080104)
Australian and New Zealand Standard Research Classification > ENGINEERING (090000) > AEROSPACE ENGINEERING (090100) > Aircraft Performance and Flight Control Systems (090104)
|Divisions:||Current > Research Centres > Australian Research Centre for Aerospace Automation
Current > Schools > School of Electrical Engineering & Computer Science
Current > QUT Faculties and Divisions > Science & Engineering Faculty
|Copyright Owner:||Copyright 2013 Springer-Verlag Berlin Heidelberg|
|Copyright Statement:||author can archive pre-print (ie pre-refereeing)|
|Deposited On:||04 Jun 2013 01:28|
|Last Modified:||11 Dec 2015 03:08|
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