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Electronics 2017, 6(1), 10; doi:10.3390/electronics6010010

Obstacle Avoidance Based-Visual Navigation for Micro Aerial Vehicles

1
Centro de Investigación Científica y Tecnológica del Ejército CICTE, Universidad de las Fuerzas Armadas ESPE, Sangolqui 171103, Ecuador
2
Departamento de Seguridad y Defensa, Universidad de las Fuerzas Armadas ESPE, Sangolqui 171103, Ecuador
3
Research Group on Knowledge Engineering GREC, Universitat Politècnica de Catalunya UPC-BarcelonaTech, Barcelona 08040, Spain
4
Departamento de Eléctrica y Electrónica DEEE, Universidad de las Fuerzas Armadas ESPE, Sangolqui 171103, Ecuador
*
Authors to whom correspondence should be addressed.
Academic Editor: Sergio Montenegro
Received: 23 November 2016 / Revised: 27 December 2016 / Accepted: 5 January 2017 / Published: 19 January 2017

Abstract

This paper describes an obstacle avoidance system for low-cost Unmanned Aerial Vehicles (UAVs) using vision as the principal source of information through the monocular onboard camera. For detecting obstacles, the proposed system compares the image obtained in real time from the UAV with a database of obstacles that must be avoided. In our proposal, we include the feature point detector Speeded Up Robust Features (SURF) for fast obstacle detection and a control law to avoid them. Furthermore, our research includes a path recovery algorithm. Our method is attractive for compact MAVs in which other sensors will not be implemented. The system was tested in real time on a Micro Aerial Vehicle (MAV), to detect and avoid obstacles in an unknown controlled environment; we compared our approach with related works. View Full-Text
Keywords: UAVs; MAV; obstacle detection; SURF; control system; obstacle avoidance UAVs; MAV; obstacle detection; SURF; control system; obstacle avoidance
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This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited. (CC BY 4.0).

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MDPI and ACS Style

Aguilar, W.G.; Casaliglla, V.P.; Pólit, J.L. Obstacle Avoidance Based-Visual Navigation for Micro Aerial Vehicles. Electronics 2017, 6, 10.

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