0% Complete
صفحه اصلی
/
سی امین کنفرانس بین المللی مهندسی برق
Autonomous, Bio-inspired vision-based navigation system for indoor flying using hybrid optical flow and stereopsis methods
نویسندگان :
Masoud Mohtadifar
1
Hadi Seyedarabi
2
1- دانشگاه تبریز
2- دانشگاه تبریز
کلمات کلیدی :
Unmanned aerial vehicle, Optical flow, Obstacle detection, Vision-based control, guidance.
چکیده :
Unmanned aerial vehicles (UAVs) have become an important part of today’s world. Micro Aerial Vehicles (MAVs) are small-sized UAVs that are suited for closed spaces, indoor or covert applications. Due to their small size and limited energy and load they can bear, there are several challenges in intelligent control of these vehicles. Also, due to their limitations, using energy-consuming sensors and complex control strategies which need high computational power, is not an option. To overcome MAV’s limitations, researchers are working on visual navigation systems. In this paper, we present an efficient strategy for the guidance and navigation of a 30gr MAV in indoor environments using a mixture of visual and inertial sensors. By taking inspiration from nature and flying insects, we combined optical flow and stereopsis methods to detect stationary obstacles and avoid collisions. Our control system uses two lateral cameras to avoid collision with lateral walls. To detect frontal walls and obstacles, instead of using optical flow methods, we use two frontal cameras with the same viewing direction and calculate the discrepancy between their images to detect walls and obstacles. For guidance, we designed a guidance system that functions well with our obstacle detection system and only needs destination and MAV’s current coordinates. By implementing our control system on a simulated coaxial helicopter, we were able to record more than 150 hours of collision-free flight and successful guidance to appointed destinations. Our control system is best suited for small sized UAVs in indoor environments and only needs inexpensive sensors and microcontrollers to implement
لیست مقالات
لیست مقالات بایگانی شده
Probabilistic Dynamic Economic Dispatch in Presence of Wind Farms
Homayoun Berahmandpour - Shahram Montasar Kuhsari - Hassan Rastegar
A Wideband PLL with Programmable LC VCO with 5.1 to 7.9GHz Lock Range
Mohsen Azimikia - Arash Esmaili
PAVID-CVs: Persian Audio-Visual Database of CV syllables
Mahsa Hedayatipour - Yasser Shekofteh - Mohsen Ebrahimi Moghaddam
طراحی و ساخت سیستم تصویربرداری SAR دایروی موج میلیمتری
علی آقاکثیری - امیرعلی بنایی کاشانی - علی تاجیک - علیرضا کیایی - هنگامه عزیزی - مهدی عندلیبی - سامان غضنفری - محمد فخارزاده
A Novel Model for Backcasting the Environmental Sustainability in Iran’s Electricity Supply Mix
Mohammad Saeid Atabaki - Mohammad Mohammadi
Partial Image Encryption of Faces Based on Chaotic Maps and Elliptic Curve Cryptography
Ali Soleymani - Md Jan Nordin
Three-Winding Coupled-Inductor-based Boost Converter with Voltage Multiplier Cell and Active Clamp Circuit for Low-Power Photovoltaic Application
Danesh Amani - Ali Valizadeh - Reza Beiranvand - Ali Yazdian Varjani
Second-Order Mode Analysis of Spoof Surface Plasmon Waveguide
Mohammad Ali Khosrovani_Moghaddam - Amir Ahmad Shishegar
A Novel Multi-Variable Search Space Method for Selective Harmonic Control-PWM in Active Power Filters
Mohammadhossein Mohammadpour - Faegheh Taghipour Reyneh - Hoda Ghoreishy - Seyyed Asghar Gholamian
Experimental Study of Pick and Place Operation for Packaging Using Delta Parallel Robot with Two-Fingered Gripper
Mona Mohades Mojtahedi - Arvin Mohammadi - Mehdi Tale Masouleh
بیشتر
ثمین همایش، سامانه مدیریت کنفرانس ها و جشنواره ها - نگارش 42.0.4