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Stereo-Vision based Obstacle Avoidance by Finding Safe Region
Xiaojie Zhao,Gang Wang,Maozhi Cai,Hongkun Zhou 제어·로봇·시스템학회 2017 International Journal of Control, Automation, and Vol.15 No.3
This paper presents an online obstacle localization and avoidance scheme for aerial vehicles over theorder of seconds for general aviation. The scheme contains three stages. In the first stage, stereo visual odometry isadopted to locate the local positions of the obstacles, and the local positions are fused with global positioning system(GPS) or differential GPS to obtain global map information. In the second stage, we search the safety areas on thebasis of depth image obtained by semi-global Matching (SGM) algorithm and computing safety points of everyframe. In the third stage, the smooth trajectory is planned in real-time based on the map and those safety pointsthrough receding horizon control based mixed integer linear programming (MILP). Simulations and experimentsverified the feasibility of the proposed scheme.