Junqing, Ning (Beihang University), Zhang, Haotian (Beihang University), Quan, Quan (Beihang University)

Dynamic Obstacle Avoidance of Quadcopters with Monocular Camera Based on Image-Based Visual Servo

Scheduled for presentation during the Regular Session "UAS Perception" (WeA4), Wednesday, June 22, 2022, 10:50−11:10, Divona-2

2022 International Conference on Unmanned Aircraft Systems (ICUAS), June 21-24, 2022, Dubrovnik, Croatia

This information is tentative and subject to change. Compiled on May 1, 2024

Abstract

This paper focuses on avoiding a dynamic obstacle for Micro-aerial vehicles (MAVs). Instead of estimating the depth or the 3D model of the obstacle, our method is only based on images. First, a geometric model is established, which describes the relationship between a quadcopter and a dynamic obstacle by a monocular camera. Then, based on the established geometric model and the dynamics of the quadcopter, the avoidance control command, namely the angular velocity and the thrust, are generated in real-time. Finally, both the hardware-in-the-loop simulation and the flight experiment are demonstrated to verify the effectiveness of the algorithm.