Research on obstacle avoidance technology of fixed wing formation based on improved artificial potential field method with stereo vision
نویسندگان
چکیده
To solve the problem that distributed fixed wing formation cannot know all other aircraft states through ground station and may collide, improved artificial potential field method based on binocular stereo vision was proposed. This makes not need to obtain position information of from station, but only module relative speed aircraft. These two parameters are used improve traditional meet requirements flight. The experimental results show improves safety reliability flying.
منابع مشابه
Stereo Vision Library for Obstacle Avoidance Applications
With this report we want to propose a new stereo algorithm, which is especially conceived to be used for robot navigation applications. It is fast and very robust, and allows to suppress the need of empirically set threshold values. The stereo library is self adapting and is able to manage environment luminosity modifications. A texture quality filter is used to drop those image portions which ...
متن کاملObstacle Avoidance Using Stereo Vision: A Survey
Stereoscopy is a technique used for recording and representing stereoscopic (3D) images. It can create an illusion of depth using two pictures taken at two or more slightly different positions. There are two possible way of taking stereoscopic pictures by using special two-lens stereo cameras or systems with two single-lens cameras joined together. Stereoscopic pictures allow us to calculate th...
متن کاملVision Based Obstacle Detection mechanism of a Fixed Wing UAV
In this paper we have developed a vision based navigation and obstacle detection mechanism for unmanned aerial vehicles (UAVs) which can be used effectively in GPS denied regions as well as in regions where remote controlled UAV navigation is impossible thus making the UAV more versatile and fully autonomous. We used a fixed single onboard video camera on the UAV that extracts images of the env...
متن کاملStereo-Vision-Based Obstacle Avoidance in Rough Outdoor Terrain
In the Robotics Laboratory at Kaiserslautern University of Technology / Germany (Technische Universität Kaiserslautern / Deutschland), projects concerning the autonomous navigation in difficult outdoor terrain are currently carried out. Research activities in this field are accomplished in cooperation with the Royal Military Academy / Belgium (Ecole Royale Militaire / Belgique). The long-term g...
متن کاملOn-Line Obstacle Avoidance for Redundant Manipulators Using Artificial Vision
This paper presents an on-line obstacle avoidance method for redundant robot manipulators with joint physical limits reflected as space state constraints. The proposed controller considers two parts. First a Cartesian PID is used to reach closed loop system stability. The second controller part considers an optimization problem divided in two sections. The first one considers the Cartesian posi...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
ژورنال
عنوان ژورنال: MATEC web of conferences
سال: 2021
ISSN: ['2261-236X', '2274-7214']
DOI: https://doi.org/10.1051/matecconf/202133607007