Autonomous Quadrotor Navigation With Vision Based Obstacle Avoidance and Path Planning

Due to the high demands on military and commercial applications, development of UAVs (unmanned aerial vehicles) has become increasingly important in recent years. In this paper, we present a vision guided autonomous navigation approach for quadrotor UAVs. A map-based offline path planning technique is developed generate an initial path, followed by waypoints trajectory flight guidance. During navigation, onboard camera utilized acquire sequence monocular images environment perception. vision-based obstacle detection using optical flow proposed collision avoidance. The field constructed from image used provide depth cues incoming detection. single-board computer adopted as control platform, algorithms are implemented online real-time processing. Several experiments carried out outdoor obstacles avoidance visual results have demonstrated feasibility our method navigation.