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Vision-based control of near-obstacle flight

Vision-based control of near-obstacle flight This paper presents a novel control strategy, which we call optiPilot, for autonomous flight in the vicinity of obstacles. Most existing autopilots rely on a complete 6-degree-of-freedom state estimation using a GPS and an Inertial Measurement Unit (IMU) and are unable to detect and avoid obstacles. This is a limitation for missions such as surveillance and environment monitoring that may require near-obstacle flight in urban areas or mountainous environments. OptiPilot instead uses optic flow to estimate proximity of obstacles and avoid them. http://www.deepdyve.com/assets/images/DeepDyve-Logo-lg.png Autonomous Robots Springer Journals

Vision-based control of near-obstacle flight

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References (77)

Publisher
Springer Journals
Copyright
Copyright © 2009 by Springer Science+Business Media, LLC
Subject
Computer Science; Simulation and Modeling; Mechanical Engineering; Computer Imaging, Vision, Pattern Recognition and Graphics; Electrical Engineering; Control , Robotics, Mechatronics; Artificial Intelligence (incl. Robotics)
ISSN
0929-5593
eISSN
1573-7527
DOI
10.1007/s10514-009-9139-6
Publisher site
See Article on Publisher Site

Abstract

This paper presents a novel control strategy, which we call optiPilot, for autonomous flight in the vicinity of obstacles. Most existing autopilots rely on a complete 6-degree-of-freedom state estimation using a GPS and an Inertial Measurement Unit (IMU) and are unable to detect and avoid obstacles. This is a limitation for missions such as surveillance and environment monitoring that may require near-obstacle flight in urban areas or mountainous environments. OptiPilot instead uses optic flow to estimate proximity of obstacles and avoid them.

Journal

Autonomous RobotsSpringer Journals

Published: Aug 21, 2009

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