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Proceedings Paper

Micro air vehicle autonomous obstacle avoidance from stereo-vision
Author(s): Roland Brockers; Yoshiaki Kuwata; Stephan Weiss; Lawrence Matthies
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Paper Abstract

We introduce a new approach for on-board autonomous obstacle avoidance for micro air vehicles flying outdoors in close proximity to structure. Our approach uses inverse-range, polar-perspective stereo-disparity maps for obstacle detection and representation, and deploys a closed-loop RRT planner that considers flight dynamics for trajectory generation. While motion planning is executed in 3D space, we reduce collision checking to a fast z-buffer-like operation in disparity space, which allows for significant speed-up compared to full 3d methods. Evaluations in simulation illustrate the robustness of our approach, whereas real world flights under tree canopy demonstrate the potential of the approach.

Paper Details

Date Published: 3 June 2014
PDF: 12 pages
Proc. SPIE 9084, Unmanned Systems Technology XVI, 90840O (3 June 2014); doi: 10.1117/12.2055288
Show Author Affiliations
Roland Brockers, Jet Propulsion Lab. (United States)
Yoshiaki Kuwata, Jet Propulsion Lab. (United States)
Stephan Weiss, Jet Propulsion Lab. (United States)
Lawrence Matthies, Jet Propulsion Lab. (United States)

Published in SPIE Proceedings Vol. 9084:
Unmanned Systems Technology XVI
Robert E. Karlsen; Douglas W. Gage; Charles M. Shoemaker; Grant R. Gerhart, Editor(s)

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