Flight Test Validation of Collision Avoidance System for a Multicopter using Stereoscopic Vision
Flight Test Validation of Collision Avoidance System for a Multicopter using Stereoscopic Vision
复制标题
使用立体视觉的多旋翼飞行器防撞系统的飞行测试验证
DOI：
10.1109/icuas.2019.8798023
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发表时间：
2019
期刊：
影响因子：
--
通讯作者：
S. Bhandari
中科院分区：
文献类型：
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作者：
Demetria Ma;Alexander Tran;Nick Keti;Ryan Yanagi;Peter Knight;K. Joglekar;Nicholas Tudor;Burt Cresta;S. Bhandari
介绍了利用立体视觉技术对多旋翼飞机防撞系统进行飞行试验验证的方法。立体视觉提供了一种负担得起的，可访问的，有效的碰撞检测方法。使用ZED立体相机，使用图像视差来计算相机与其视野中的障碍物之间的距离来生成深度图。多旋翼机上的NVIDIA Jetson TX1计算机用于处理深度图以检测其飞行路径中的任何障碍物。该算法将连续更新的深度图划分为相等的部分以确定包含障碍物的部分。一旦选择了这一段，就会计算出一个新的矢量来确定“最小阻力路径”，并使用DroneKit将其传达给机载Pixhawk飞行控制器。使用这些命令，UAS机动以安全地校正其路线并自主避开障碍物。文中介绍了飞行试验的目的、程序和结果。
This paper presents the flight test validation of collision avoidance system for a multicopter using stereovision technique. Stereoscopic vision offers an affordable, accessible, and effective method of collision detection. Using a ZED stereoscopic camera, depth maps were generated using image disparity to calculate the distance between the camera and obstacles in its view. An NVIDIA Jetson TX1 computer aboard the multicopter was used to process the depth maps to detect any obstacles in its flight path. The algorithm partitions the continuously updated depth maps in equal sections to determine the section containing obstacles. Once this section is chosen, a new vector is calculated to determine the “path of least resistance” and communicated to the onboard Pixhawk flight controller using DroneKit. Using these commands, the UAS maneuvers to safely correct its course and avoid the obstacle autonomously. Flight test objectives, procedures, and results are presented.