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Title
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Detection and estimation of moving obstacles for a UAV
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Author
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Abstract
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| In recent years, research interest in Unmanned Aerial Vehicles (UAVs) has been grown rapidly because of their potential use for a wide range of applications. In this paper, we proposed a vision-based detection and position/velocity estimation of moving obstacle for a UAV. The knowledge of a moving obstacle's state, i.e., position, velocity, is essential to achieve better performance for an intelligent UAV system specially in autonomous navigation and landing tasks. The novelties are: (1) the design and implementation of a localization method using sensor fusion methodology which fuses Inertial Measurement Unit (IMU) signals and Pozyx signals; (2) The development of detection and estimation of moving obstacles method based on on-board vision system. Experimental results validate the effectiveness of the proposed approach. (C) 2019, IFAC (International Federation of Automatic Control) Hosting by Elsevier Ltd. All rights reserved. |
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Language
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English
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Source (journal)
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IFAC-PapersOnLine
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Source (book)
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12th International-Federation-of-Automatic-Control (IFAC) Symposium on, Dynamics and Control of Process Systems including Biosystems (DYCOPS), APR 23-26, 2019, FEESC, FEESC, Florianopolis, BRAZIL
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Publication
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Amsterdam
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Elsevier science bv
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2019
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ISSN
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24058963
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DOI
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10.1016/J.IFACOL.2019.06.032
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Volume/pages
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52
:1
(2019)
, p. 22-27
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ISI
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000473270600005
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Full text (Publisher's DOI)
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Full text (publisher's version - intranet only)
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