Stereo vision based obstacle avoidance strategy for quadcopter UAV
- Resource Type
- Conference
- Authors
- Yu, Yang; Tingting, Wang; Long, Chen; Weiwei, Zhang
- Source
- 2018 Chinese Control And Decision Conference (CCDC) Chinese Control And Decision Conference (CCDC), 2018. :490-494 Jun, 2018
- Subject
- General Topics for Engineers
Power, Energy and Industry Applications
Robotics and Control Systems
Signal Processing and Analysis
Cameras
Collision avoidance
Stereo vision
Acoustics
Calibration
Visualization
Mathematical model
quadcopter UAV
stereo vision
obstacle avoidance
- Language
- ISSN
- 1948-9447
This paper presents a visual control method of a small UAV in which binocular stereo vision and ultrasonic system are fused to implement obstacle avoidance strategy. This combination of sensors allows us to get a complete characterization of the environment and describe obstacle avoidance. It means that stereo vision system can detect obstacles around UAV and calculate a new path by RRT-algorithm. The ultrasonic sensor is introduced to compensate for the situations where something may lead to the failure of the obstacle detection. The method presented in this paper can improve the automatic level of the flying control system. Experiments on obstacle avoidance demonstrate the effectiveness of the proposed method and the performance of the UAV platform.