Autonomous Flight in the Canyons of Streets on the Basis of Information Derived from the Vision System

Abstract

This article presents algorithm of autonomous microplane flight control in street canyons using image from a camera as a carrier of information about microplane surroundings. Algorithm structure and video information processing are formed in a way that enables their implementation with the use of available equipment such as microcameras, advanced autopilot and signal processor DSP. On the basis of the developed algorithm model simulation research was prepared and conducted. Obtained results confirm effectiveness of this algorithm in autonomous flight control of microplane in street canyons. However, conducted simulations did not use real video image, but only simplified model of street map perspective image.