Robust and Reduced SWaP Obstacle Sensing

小型无人机系统（SUAS）或“无人机”已经吸引了公众的想象力。在军事领域，SUAS可以提供“飞行望远镜”功能，允许用户从空中监视感兴趣的区域，远离视线和危险。在非军事领域，搜索和救援，检查和远程交付都被认为是下一个“杀手级”应用。为了扩展SUAS的使用范围，系统必须能够在没有人为干预的情况下在真实的世界中运行。在广阔的开放空间中自主运行SUAS所需的技术相对成熟。在城市等复杂环境中的操作仍然具有挑战性。SUAS必须在树木、建筑物、墙壁以及某些情况下的人周围飞行。要实现这种类型的操作，需要几种关键能力。对障碍物的鲁棒感测就是其中之一。提出了一种小型避障模块，该模块包括两个摄像机、一个处理器和一个主动测距仪。本发明的目的是提供一种能够感测障碍物存在和相对位置的低成本模块。该模块与SUAS结合后，将启用新的应用程序。它将消除SUAS在复杂环境中使用的限制，并将使行业增长激增。

Small Unmanned Air Systems (SUAS), or "drones", have captured the public imagination. In the military domain SUAS can offer ‘Flying Binoculars’ capability, allowing a user to monitor an area of interest from the air, out of sight and out of danger. In the non-military domain, search & rescue, inspection and remote delivery have all been suggested as the next 'killer' application. To extend the range of SUAS uses, the systems must be capable of operating in the real world without human intervention. The technology required to operate SUAS autonomously in wide open spaces is relatively mature. Operation in complex environments, such as urban, is still challenging. The SUAS has to fly in and around trees, buildings, walls and, in some cases, people. Several critical capabilities are needed to enable this type of operation. Robust sensing of obstacles is one of these. A miniature obstacle avoidance module is proposed incorporating two cameras, a processor and an active rangefinder. The objective is a low cost module capable of sensing obstacle presence and relative position. The module, when incorporated with an SUAS, will enable new applications. lt will remove limitations to SUAS use in complex environments and will allow industry growth to proliferate.