Abstract
This work proposes a vision-based guidance scheme for an unmanned aerial vehicle navigating through urban environments while seeking a predefined goal point. Optical flow of image corner feature points is considered to segment obstacles from the image. An obstacle-avoidance guidance law is proposed to avoid the segmented obstacles. Additionally, detecting open space between segmented obstacles, a passage-following guidance law also presented for intelligent decision making. Analytic comparison with an existing methodology is carried out to highlight superior obstacle-avoidance properties of the proposed strategy. Simulations are carried out in a three-dimensional environment for single and multiple obstacles. Results comply with the analytic findings and present a much improved avoidance performance as compared to existing optical flow-based methods.
Sign-in/Register to access full text options 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
