Reactive Collision Avoidance of UAVs with Vision Sensing using Pin-hole Cameras

Tripathi, Amit K and Raja , Ramsingh G and Padhi , Radhakant (2013) Reactive Collision Avoidance of UAVs with Vision Sensing using Pin-hole Cameras. In: 19th IFAC Symposium on Automatic Control in Aerospace, September 2.-6, 2013, Wuerzburg, Germany.

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Abstract

Using a pair of simple passive pin-hole cameras, an effective reactive collision avoidance algorithm is presented in this paper for unmanned aerial vehicles. First, an extended Kalman filter approach is proposed to extract the useful information from the noisy information generated. This formulation takes advantage of both ‘stereo vision’ as well as ‘optical flow’ signatures and hence is capable of estimating the range information as well, making its position estimate quite accurate. Next, an ‘aiming point’ is computed after putting an artificial safety ball around the obstacle and using the collision cone approach. After that, the velocity vector of the vehicle is steered away towards this aiming point using a recently developed ‘differential geometry guidance'. A large number of simulation studies, which also includes consistency checks for Kalman filtering, leads to the conclusion that this strategy is quite effective in avoiding popup obstacles within a very short time and hence can be very useful for reactive collision avoidance.

Item Type:	Conference Paper
Publisher:	Elsevier Ltd
Additional Information:	Copy right for this article belongs to the Elsevier Ltd
Department/Centre:	Division of Mechanical Sciences > Aerospace Engineering(Formerly Aeronautical Engineering)
Date Deposited:	25 Aug 2016 10:05
Last Modified:	25 Aug 2016 10:05
URI:	http://eprints.iisc.ac.in/id/eprint/54599

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