Abstract
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 approach achieves minimum separation between the two vehicles 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 flight using small quadrotors.
Based on “Omnidirectional bearing-only see-and-avoid for small aerial robots”, by Luis Mejias, Ivan Mondragón, Pascual Campoy which appeared in the Proceedings of the 5th International Conference on Automation, Robotics and Applications (ICARA 2011). © 2011 IEEE.
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Notes
- 1.
Note: we assume that camera and vehicle cg are aligned, approximately in the same place. Also, the sensor provides \(\phi \) and \(\varphi \), but only the use of \(\varphi \) is used in this chapter.
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Acknowledgments
The work presented in this chapter is the result of an ongoing collaboration between the Computer Vision Group - Universidad Politécnica de Madrid and the Australian Research Centre for Aerospace Automation (ARCAA). This work has been supported by the European Commission and the Australian Academy of Science through a FP7-PEOPLE-IRSES-2008 grant (PIRSES-GA-2009-230797 - ICPUAS). The authors also would like to thank Universidad Politécnica de Madrid, Consejería de Educación de la Comunidad de Madrid and Fondo Social Europeo (FSE). The authors acknowledge the contribution and support from Troy Bruggemann, Miguel Olivares Mendez and Carol Martinez.
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Mejias, L., Mondragón Bernal, I.F., Campoy, P. (2013). Vision Based Control for Micro Aerial Vehicles: Application to Sense and Avoid. In: Sen Gupta, G., Bailey, D., Demidenko, S., Carnegie, D. (eds) Recent Advances in Robotics and Automation. Studies in Computational Intelligence, vol 480. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-37387-9_10
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