RT Conference Proceedings
SR 00
A1 Mejias Alvarez, Luis
A1 Mondragon Bernal, Ivan Fernando
A1 Campoy Cervera, Pascual
T1 Omnidirectional bearing-only see-and-avoid for small aerial robots:
YR 2011
FD 06/12/2011 - 08/12/2011
AB 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
T2 2011 5th International Conference on Automation, Robotics and Applications (ICARA)
ED Wellington, Nueva Zelanda
SN 978-1-4577-0329-4
AV Published
LK http://oa.upm.es/12181/
UL http://ieeexplore.ieee.org/xpl/articleDetails.jsp?reload=true&arnumber=6144850&contentType=Conference+Publications