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

Mejias Alvarez, Luis and Mondragon Bernal, Ivan Fernando and Campoy Cervera, Pascual (2011). Omnidirectional bearing-only see-and-avoid for small aerial robots:. In: "2011 5th International Conference on Automation, Robotics and Applications (ICARA)", 06/12/2011 - 08/12/2011, Wellington, Nueva Zelanda. ISBN 978-1-4577-0329-4.

Description

Title: Omnidirectional bearing-only see-and-avoid for small aerial robots:
Author/s:
  • Mejias Alvarez, Luis
  • Mondragon Bernal, Ivan Fernando
  • Campoy Cervera, Pascual
Item Type: Presentation at Congress or Conference (Article)
Event Title: 2011 5th International Conference on Automation, Robotics and Applications (ICARA)
Event Dates: 06/12/2011 - 08/12/2011
Event Location: Wellington, Nueva Zelanda
Title of Book: Proceedings of 2011 5th International Conference on Automation, Robotics and Applications (ICARA)
Date: 2011
ISBN: 978-1-4577-0329-4
Subjects:
Faculty: E.T.S.I. Industriales (UPM)
Department: Automática, Ingeniería Electrónica e Informática Industrial [hasta 2014]
Creative Commons Licenses: Recognition - No derivative works - Non commercial

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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

More information

Item ID: 12181
DC Identifier: http://oa.upm.es/12181/
OAI Identifier: oai:oa.upm.es:12181
Official URL: http://ieeexplore.ieee.org/xpl/articleDetails.jsp?reload=true&arnumber=6144850&contentType=Conference+Publications
Deposited by: Memoria Investigacion
Deposited on: 04 Sep 2012 10:26
Last Modified: 21 Apr 2016 11:22
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