Development of collision avoidance system for useful UAV applications using image sensors with laser transmitter

M R Bahiki,S Azrad,M K Cheong

doi:10.1088/1757-899x/152/1/012026

M R Bahiki, S Azrad + Show 1 more

Open Access

https://doi.org/10.1088/1757-899x/152/1/012026

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Abstract

The main goal of this study is to demonstrate the approach of achieving collision avoidance on Quadrotor Unmanned Aerial Vehicle (QUAV) using image sensors with colour- based tracking method. A pair of high definition (HD) stereo cameras were chosen as the stereo vision sensor to obtain depth data from flat object surfaces. Laser transmitter was utilized to project high contrast tracking spot for depth calculation using common triangulation. Stereo vision algorithm was developed to acquire the distance from tracked point to QUAV and the control algorithm was designed to manipulate QUAV's response based on depth calculated. Attitude and position controller were designed using the non-linear model with the help of Optitrack motion tracking system. A number of collision avoidance flight tests were carried out to validate the performance of the stereo vision and control algorithm based on image sensors. In the results, the UAV was able to hover with fairly good accuracy in both static and dynamic collision avoidance for short range collision avoidance. Collision avoidance performance of the UAV was better with obstacle of dull surfaces in comparison to shiny surfaces. The minimum collision avoidance distance achievable was 0.4 m. The approach was suitable to be applied in short range collision avoidance.

Highlights

Unmanned aerial vehicles (UAVs) hold good promises for performance in both civilian and military operations
Result and discussion Two experiments were conducted in an indoor environment assisted by Optitrack Motion Capture system to validate performance of the UAV in static and dynamic collision avoidance
The Optitrack motion capture cameras were chosen as indoor positioning system and testing environment to replace the global positioning system (GPS) because it gives the advantage of easy conduct of repetitive flight simulations

Summary

Introduction

Unmanned aerial vehicles (UAVs) hold good promises for performance in both civilian and military operations. Can be accomplished using the application of UAVs. for UAVs to perform successfully in their respective missions and operations, collision avoidance system is necessary to be imparted into them. An UAV during operation would collide into unexpected objects such as wall, flying objects, flying animals, humans and others, resulting in mission failure, destruction of UAV, damage or injury to the collided objects or a combination of all. Collision avoidance for unmanned ground vehicles (UGVs) can be based on multiple choices including infrared sensors [1], image-based sensors [2], sound sensors [3] and laser scanner [4]. Image-based sensor collision avoidance on UAVs is a relatively good strategy compared to others due to the combined functions for aerial surveillance and obstacle avoidance. UAVs with other type of sensors do not provide the added ability of aerial surveillance

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