Omnidirectional bearing-only see-and-avoid for small aerial robots

Abstract

Abstract-Motivated by the growing interest in unmanned aerial system's applications in indoor and outdoor settings and the standardisation of visual sensors as vehicle payload. 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. It will achieve a 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 flight using small quadrotors.

Bearing-Based Formation Control of A Group of Agents with Leader-First Follower Structure

“…( (15), we havė [41], [42] and the references therein for examples. Below, we give a sufficient condition for collision-free between agent 3 and its leaders under the dynamics (14).…”

Monocular Visual-Inertial SLAM-Based Collision Avoidance Strategy for Fail-Safe UAV Using Fuzzy Logic Controllers

“…Lenz et al [21] uses a single image captured from the onboard camera as input, produce obstacle classifications, and use them to select an evasive maneuver. Mejias and Campoy [23] 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. Hrabar [15] presents a goaldirected 3D reactive obstacle avoidance algorithm for RUAVs to fly point-to-point type trajectories.…”

Parallel Tracking and Mapping of a Fleet of Quad-Rotor

“…Present concern is to control a fleet of drones to guide them to a goal with avoidance of possible obstacles and without collision with other fleet members [3], [4]. Flying fleets of quad-rotor drones is not developed yet but it implies interesting elements for general multi-component systems.…”