Autonomous MAV guidance with a lightweight omnidirectional vision sensor

Author

Moore, Richard J. D. ; Dantu, Karthik ; Barrows, Geoffrey L. ; Nagpal, R.

Author_Institution

Sch. of Eng. & Appl. Sci., Harvard Univ., Cambridge, MA, USA

fYear

2014

fDate

May 31 2014-June 7 2014

Firstpage

3856

Lastpage

3861

Abstract

This study describes the design and implementation of several bioinspired algorithms for providing guidance to an ultra-lightweight micro-aerial vehicle (MAV) using a 2.6 g omnidirectional vision sensor. Using this visual guidance system we demonstrate autonomous speed control, centring, and heading stabilisation on board a 30 g MAV flying in a corridor-like environment. In addition to the computation of wide-field optic flow, the comparatively high-resolution omnidirectional imagery provided by this sensor also offers the potential for image-based algorithms such as landmark recognition to be implemented in the future.

Keywords

autonomous aerial vehicles; image sensors; microrobots; robot vision; velocity control; autonomous MAV guidance; autonomous speed control; high-resolution omnidirectional imagery; image-based algorithm; landmark recognition; lightweight omnidirectional vision sensor; ultralightweight microaerial vehicle; visual guidance system; wide-field optic flow; Adaptive optics; Biomedical optical imaging; Helicopters; Optical imaging; Optical recording; Optical sensors; Optical variables measurement;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation (ICRA), 2014 IEEE International Conference on

Conference_Location

Hong Kong

Type

conf

DOI

10.1109/ICRA.2014.6907418

Filename

6907418