Micro Air Vehicle Autonomous Obstacle Avoidance from Stereo-Vision
Proceedings of SPIE, the International Society for Optical Engineering/Proceedings of SPIE(2014)
Abstract
We introduce a new approach for on-board autonomous obstacle avoidance for micro air vehicles flying out-doors in close proximity to structure. Our approach uses inverse-range, polar-perspective stereo-disparity maps for obstacle detection and representation, and deploys a closed-loop RRT planner that considers flight dynamics for trajectory generation. While motion planning is executed in 3D space, we reduce collision checking to a fast z-buffer-like operation in disparity space, which allows for significant speed-up compared to full 3d methods. Evaluations in simulation illustrate the robustness of our approach, whereas real world flights under tree canopy demonstrate the potential of the approach.
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