Memorias de investigación
Ponencias en congresos:
Omnidirectional bearing-only see-and-avoid for small aerial robots:
Año:2011
Áreas de investigación
  • Robots aéreos
Datos
Descripción
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
Si
Nombre congreso
5th IEEE International Conference on Automation, Robotics and Applications ICARA 2011
Tipo de participación
960
Lugar del congreso
Wellington, New Zealand.
Revisores
Si
ISBN o ISSN
978-1-4577-0328-7
DOI
10.1109/ICARA.2011.6144850
Fecha inicio congreso
06/12/2011
Fecha fin congreso
08/12/2011
Desde la página
1
Hasta la página
6
Título de las actas
Omnidirectional bearing-only see-and-avoid for small aerial robots:
Esta actividad pertenece a memorias de investigación
Participantes
Grupos de investigación, Departamentos, Centros e Institutos de I+D+i relacionados
  • Creador: Grupo de Investigación: Computer Vision
  • Centro o Instituto I+D+i: Centro de Automática y Robótica (CAR). Centro Mixto UPM-CSIC
  • Departamento: Automática, Ingeniería Electrónica e Informática Industrial