Population of a range bearing map for local obstacle avoidance using monocular vision

Sean Quinn Marlow, Jack W. Langelaan

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

This paper presents a method for navigation of a small unmanned aerial vehicle (UAV) through an unsurveyed static environment using a single forward pointing camera and a GPS corrected inertial measurement unit. The size and maneuverability of small UAVs allows for low altitude flights in complex environments. Without accurate estimates of obstacle locations, successful navigation is not possible. Using camera measurements of bearing and optical flow and estimates of vehicle motion, a range bearing map is created. The range bearing map stores estimates of the closest obstacle in a particular region, the information necessary to perform local obstacle avoidance. By discretizating the area around the vehicle by angle and forcing each region to contain an estimated range, complex environments can be modeled. Results of two-dimensional simulations are presented using a potential field method for obstacle avoidance and navigation.

Original languageEnglish (US)
Title of host publicationGuidance and Control 2012 - Advances in the Astronautical Sciences
Subtitle of host publicationProceedings of the 35th Annual AAS Rocky Mountain Section Guidance and Control Conference
Pages559-573
Number of pages15
StatePublished - 2012
Event35th Annual AAS Rocky Mountain Section Guidance and Control Conference - Breckenridge, CO, United States
Duration: Feb 3 2012Feb 8 2012

Publication series

NameAdvances in the Astronautical Sciences
Volume144
ISSN (Print)0065-3438

Other

Other35th Annual AAS Rocky Mountain Section Guidance and Control Conference
CountryUnited States
CityBreckenridge, CO
Period2/3/122/8/12

All Science Journal Classification (ASJC) codes

  • Aerospace Engineering
  • Space and Planetary Science

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  • Cite this

    Marlow, S. Q., & Langelaan, J. W. (2012). Population of a range bearing map for local obstacle avoidance using monocular vision. In Guidance and Control 2012 - Advances in the Astronautical Sciences: Proceedings of the 35th Annual AAS Rocky Mountain Section Guidance and Control Conference (pp. 559-573). (Advances in the Astronautical Sciences; Vol. 144).