Autonomous MAV guidance with a lightweight omnidirectional vision sensor

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

Research output: Chapter in Book/Report/Conference proceedingConference contribution

26 Scopus citations

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 corridorlike 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.

Original languageEnglish (US)
Title of host publicationProceedings - IEEE International Conference on Robotics and Automation
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages3856-3861
Number of pages6
ISBN (Electronic)9781479936854, 9781479936854
DOIs
StatePublished - Sep 22 2014
Externally publishedYes
Event2014 IEEE International Conference on Robotics and Automation, ICRA 2014 - Hong Kong, China
Duration: May 31 2014Jun 7 2014

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
ISSN (Print)1050-4729

Other

Other2014 IEEE International Conference on Robotics and Automation, ICRA 2014
Country/TerritoryChina
CityHong Kong
Period5/31/146/7/14

All Science Journal Classification (ASJC) codes

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

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