Real-Time Visual Feedback Control of Multi-Camera UAV
Real-Time Visual Feedback Control of Multi-Camera UAV
复制标题
多摄像机无人机实时视觉反馈控制
DOI：
10.20965/jrm.2021.p0263
复制
发表时间：
2021-04-01
影响因子：
1.1
通讯作者：
Namiki, Akio
中科院分区：
文献类型：
--
作者：
He, Dongqing;Chuang, Hsiu-Min;Namiki, Akio
近年来，在非全球定位系统（GPS）环境中无人机（UAV）的飞行控制变得越来越重要。在这样的环境中，视觉传感器是重要的，其主要作用是自定位和避障。为了实现高精度全向视觉识别、自定位和同时避障，提出了一种多摄像机无人机系统的概念，并研制了一种双摄像机无人机样机。所提出的飞行控制系统可以在用于防撞的视觉伺服（VS）和用于自定位的视觉里程计（VO）之间切换。通过插入障碍物的飞行实验，验证了所提出的控制系统的可行性。
Recently, flight control of unmanned aerial vehicles (UAVs) in non-global positioning system (GPS) environments has become increasingly important. In such an environment, visual sensors are important, and their main roles are self-localization and obstacle avoidance. In this paper, the concept of a multicamera UAV system with multiple cameras attached to the body is proposed to realize high-precision omnidirectional visual recognition, self-localization, and obstacle avoidance simultaneously, and a two-camera UAV is developed as a prototype. The proposed flight control system can switch between visual servoing (VS) for collision avoidance and visual odometry (VO) for self-localization. The feasibility of the proposed control system was verified by conducting flight experiments with the insertion of obstacles.