Obstacle avoidance for quadrotor using improved method based on optical flow
Refereed conference paper presented and published in conference proceedings


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AbstractIn 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.
All Author(s) ListWang C., Liu W., Meng M.Q.-H.
Name of Conference2015 IEEE International Conference on Information and Automation, ICIA 2015 - In conjunction with 2015 IEEE International Conference on Automation and Logistics
Start Date of Conference08/08/2015
End Date of Conference10/08/2015
Place of ConferenceYunnan
Country/Region of ConferenceChina
Detailed descriptionIEEE
Year2015
Month9
Day28
Pages1674 - 1679
ISBN9781467391047
LanguagesEnglish-United Kingdom
KeywordsBalanced Theory, Obstacle Avoidance, Optical Flow, TTC

Last updated on 2020-22-09 at 02:26