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Image Segmentation-Based Unmanned Aerial Vehicle Safe Navigation

Agrawal, Pooja and Ratnoo, Ashwini and Ghose, Debasish (2017) Image Segmentation-Based Unmanned Aerial Vehicle Safe Navigation. In: JOURNAL OF AEROSPACE INFORMATION SYSTEMS, 14 (7). pp. 391-410.

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Official URL: http://dx.doi.org/10.2514/1.I010457


This work proposes a vision-based guidance scheme for an unmanned aerial vehicle navigating through urban environments while seeking a predefined goal point. Optical flow of image corner feature points is considered to segment obstacles from the image. An obstacle-avoidance guidance law is proposed to avoid the segmented obstacles. Additionally, detecting open space between segmented obstacles, a passage-following guidance law also presented for intelligent decision making. Analytic comparison with an existing methodology is carried out to highlight superior obstacle-avoidance properties of the proposed strategy. Simulations are carried out in a three-dimensional environment for single and multiple obstacles. Results comply with the analytic findings and present a much improved avoidance performance as compared to existing optical flow-based methods.

Item Type: Journal Article
Additional Information: Copy right for this article belongs to the AMER INST AERONAUTICS ASTRONAUTICS, 1801 ALEXANDER BELL DRIVE, STE 500, RESTON, VA 22091-4344 USA
Department/Centre: Division of Mechanical Sciences > Aerospace Engineering(Formerly Aeronautical Engineering)
Date Deposited: 29 Jul 2017 07:30
Last Modified: 29 Jul 2017 07:30
URI: http://eprints.iisc.ac.in/id/eprint/57501

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