Development of collision avoidance system for useful UAV applications using image sensors with laser transmitter

[摘要] The main goal of this study is to demonstrate the approach of achieving collision avoidance on Quadrotor Unmanned Aerial Vehicle (QUAV) using image sensors with colour- based tracking method. A pair of high definition (HD) stereo cameras were chosen as the stereo vision sensor to obtain depth data from flat object surfaces. Laser transmitter was utilized to project high contrast tracking spot for depth calculation using common triangulation. Stereo vision algorithm was developed to acquire the distance from tracked point to QUAV and the control algorithm was designed to manipulate QUAV's response based on depth calculated. Attitude and position controller were designed using the non-linear model with the help of Optitrack motion tracking system. A number of collision avoidance flight tests were carried out to validate the performance of the stereo vision and control algorithm based on image sensors. In the results, the UAV was able to hover with fairly good accuracy in both static and dynamic collision avoidance for short range collision avoidance. Collision avoidance performance of the UAV was better with obstacle of dull surfaces in comparison to shiny surfaces. The minimum collision avoidance distance achievable was 0.4 m. The approach was suitable to be applied in short range collision avoidance.

[发布机构] Department of Aerospace Engineering, Faculty of Engineering, Universiti Putra Malaysia, Malaysia^1

[学科分类] 航空航天科学

[关键词] Collision avoidance systems;Dynamic collision avoidances;Laser transmitters;Motion tracking system;Position controller;Quadrotor unmanned aerial vehicles;Stereo vision algorithms;Stereo vision sensor