Descripción
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Abstract¿Motivated by the growing interest in unmanned aerial system¿s applications in indoor and outdoor settings and the standardization 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 guarantees 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 simulations and real-flight using small quadrotors. | |
Internacional
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Si |
Nombre congreso
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5th IEEE International Conference on Automation, Robotics and Applications ICARA 2011 |
Tipo de participación
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960 |
Lugar del congreso
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Wellington, New Zealand. |
Revisores
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Si |
ISBN o ISSN
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978-1-4577-0328-7 |
DOI
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10.1109/ICARA.2011.6144850 |
Fecha inicio congreso
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06/12/2011 |
Fecha fin congreso
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08/12/2011 |
Desde la página
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1 |
Hasta la página
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6 |
Título de las actas
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Omnidirectional bearing-only see-and-avoid for small aerial robots: |