Adaptive Visual Servoing for Obstacle Avoidance of Micro Unmanned Aerial Vehicle with Optical Flow and Switched System Model

A vision-based adaptive switching controller that uses optical flow information to avoid obstacles for micro unmanned aerial vehicles (MUAV) is proposed in this paper. To use the optical flow to indicate the distance between the MUAV and the environment, we propose an algorithm with multi-thread pro...

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Bibliographic Details
Published in:Processes 2021-12, Vol.9 (12), p.2126
Main Authors: Chiang, Ming-Li, Tsai, Shun-Hung, Huang, Cheng-Ming, Tao, Kuang-Tin
Format: Article
Language:English
Subjects:
Adaptive control
Algorithms
Cameras
Controllers
Design
Field of view
Obstacle avoidance
Optical flow (image analysis)
Robots
Sensors
Switching
Unmanned aerial vehicles
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Summary:A vision-based adaptive switching controller that uses optical flow information to avoid obstacles for micro unmanned aerial vehicles (MUAV) is proposed in this paper. To use the optical flow to indicate the distance between the MUAV and the environment, we propose an algorithm with multi-thread processing such that the optical flow information is obtained reliably and continuously in the entire camera field of view. The flying behavior of considered MUAV is regarded as a switching system when considering different flying modes during the mission of obstacle avoidance. By the required flight direction for obstacle avoidance specified by the detected optical flow, an adaptive control scheme is designed to track the required trajectory in switching modes. The simulation result shows the tracking performances of the adaptive control with the switching system. The experiment of the whole system is completed to verify the obstacle avoidance capability of our system.
ISSN:2227-9717
2227-9717
DOI:10.3390/pr9122126