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Autonomous quadrotor flight with vision-based obstacle avoidance in virtual environment

机译：虚拟环境中基于视觉的避障自动四旋翼飞行

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摘要

In this paper, vision-based autonomous flight with a quadrotor type unmanned aerial vehicle (UAV) is presented. Automatic detection of obstacles and junctions are achieved by the use of optical flow velocities. Variation in the optical flow is used to determine the reference yaw angle. Path to be followed is generated autonomously and the path following process is achieved via a PID controller operating as the low level control scheme. Proposed method is tested in the Google Earth"9 virtual environment for four different destination points. In each case, autonomous UAV flight is successfully simulated without observing collisions. The results show that the proposed method is a powerful candidate for vision based navigation in an urban environment. Claims are justified with a set of experiments and it is concluded that proper thresholding of the variance of the gradient of optical flow difference have a critical effect on the detectability of roads having different widths.
机译：在本文中，提出了基于视觉的四旋翼型无人机（UAV）自主飞行。通过使用光流速度可以自动检测障碍物和路口。光流的变化用于确定参考偏航角。将自动生成要遵循的路径，并通过作为低级控制方案运行的PID控制器实现路径遵循过程。该方法在Google Earth“ 9虚拟环境中针对四个不同的目的地进行了测试。在每种情况下，都成功地模拟了自动无人机飞行而没有观察到碰撞。结果表明，该方法是在城市中基于视觉的导航的有力候选者通过一系列实验证明了这些主张是正确的，并且得出的结论是，对光流差梯度的方差进行适当的阈值处理对具有不同宽度的道路的可检测性具有至关重要的影响。

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