Obstacle avoidance for quadrotor using improved method based on optical flow
Obstacle avoidance for quadrotor using improved method based on optical flow
复制标题
基于光流的改进方法四旋翼飞行器避障
DOI：
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发表时间：
2015
期刊：
影响因子：
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通讯作者：
M. Meng
中科院分区：
文献类型：
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作者：
Chaoqun Wang;W. Liu;M. Meng
在本文中，我们提出了一种基于光流的改进方法来帮助低成本四旋翼飞行器避开障碍物。该方法由改进的平衡策略和快速碰撞时间（TTC）组成。改进的平衡策略是为四旋翼飞行器实现6自由度运动而设计的。当车辆能够成功避开障碍物时，我们使用基于光流数据的学习方法。快速TTC方法有助于提取环境的相对深度信息。我们还引入了监控策略来实时监督我们的方法。所有这些信息结合起来可以避开障碍物。我们的方法已被证明在走廊环境中效果良好。
In this paper, we proposed an improved method based on optical flow to help a low-cost quadrotor avoid obstacles. The method is consist of improved balanced strategy and fast Time-to-Collision (TTC). The improved balanced strategy is designed for the quadrotor to achieve 6 degree of freedom movement. We use a learning method based on optical flow data when the vehicle can avoid the obstacle successfully. The fast TTC method helps extract the relative depth information of the environment. We also introduced a monitoring strategies to supervise our method in real time. All these information is combined to avoid the obstacle. Our method has been demonstrated to work well in corridor environment.