Design and Development of Multirotor UAV with Automatic Collision Avoidance using Stereo Camera
The operation of drones in cluttered environments like forests and hilly areas is extremely difficult; it is impossible to use drones autonomously without having built-in information to detect and avoid obstacles. The vision based obstacle avoidance algorithm is presented in this paper, with extensi...
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| Format: | Article |
| Language: | English |
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National Institute for Aerospace Research “Elie Carafoli” - INCAS
2020-09-01
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| Series: | INCAS Bulletin |
| Subjects: | |
| Online Access: | https://bulletin.incas.ro/files/demiannay_besnier_thomas---vol_12_iss_3.pdf |
| _version_ | 1818268923267645440 |
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| author | Nicolas DEMIANNAY Nicolas BESNIER Cris THOMAS Vikas THAPA Vindhya DEVALLA Amit Kumar MONDAL |
| author_facet | Nicolas DEMIANNAY Nicolas BESNIER Cris THOMAS Vikas THAPA Vindhya DEVALLA Amit Kumar MONDAL |
| author_sort | Nicolas DEMIANNAY |
| collection | DOAJ |
| description | The operation of drones in cluttered environments like forests and hilly areas is extremely difficult; it is impossible to use drones autonomously without having built-in information to detect and avoid obstacles. The vision based obstacle avoidance algorithm is presented in this paper, with extensions to UAV navigation. The proposed method is incorporated on a stereo vison multi copter using a block matching algorithm. The stereo vision baseline is based on horizontal configuration and computes the depth using a sum of absolute difference algorithm. The image processing node (LabVIEW vi) and the controller node are run on a remote laptop. This vi computes the distance between the multirotor and an obstacle and transmits depth data to an onboard flight controller through the MAVLink protocol. The algorithm efficiency was tested using the software in the loop on Gazebo simulator to analyze the performance of the UAV. The hardware in loop results are also shown in this paper after the successful flight test. |
| first_indexed | 2024-12-12T20:46:12Z |
| format | Article |
| id | doaj.art-9dec215633a64944b7a3f8cdba6e5678 |
| institution | Directory Open Access Journal |
| issn | 2066-8201 2247-4528 |
| language | English |
| last_indexed | 2024-12-12T20:46:12Z |
| publishDate | 2020-09-01 |
| publisher | National Institute for Aerospace Research “Elie Carafoli” - INCAS |
| record_format | Article |
| series | INCAS Bulletin |
| spelling | doaj.art-9dec215633a64944b7a3f8cdba6e56782022-12-22T00:12:34ZengNational Institute for Aerospace Research “Elie Carafoli” - INCASINCAS Bulletin2066-82012247-45282020-09-01123657510.13111/2066-8201.2020.12.3.5Design and Development of Multirotor UAV with Automatic Collision Avoidance using Stereo CameraNicolas DEMIANNAY0Nicolas BESNIER1Cris THOMAS2Vikas THAPA3Vindhya DEVALLA4Amit Kumar MONDAL5École nationale supérieure d'ingénieurs de Caen, France, nicodemi31@hotmail.fr and University of Petroleum and Energy Studies, Dehradun, Uttarakhand, IndiaÉcole nationale supérieure d'ingénieurs de Caen, France, nicolas.besnier@icloud.com and University of Petroleum and Energy Studies, Dehradun, Uttarakhand, IndiaUniversità degli Studi di Genova, Genova, Italy, cris.thomas1@gmail.comIndian Institute of Technology, Biomedical Optics Lab, Hyderabad, India, vikas08thapa@gmail.comUniversity of Petroleum and Energy Studies, Dehradun, Uttarakhand, India, vindsdevalla@yahoo.comManipal Academy of Higher Education, Dubai International Academic City, Dubai, UAE, akmondal1603@gmail.comThe operation of drones in cluttered environments like forests and hilly areas is extremely difficult; it is impossible to use drones autonomously without having built-in information to detect and avoid obstacles. The vision based obstacle avoidance algorithm is presented in this paper, with extensions to UAV navigation. The proposed method is incorporated on a stereo vison multi copter using a block matching algorithm. The stereo vision baseline is based on horizontal configuration and computes the depth using a sum of absolute difference algorithm. The image processing node (LabVIEW vi) and the controller node are run on a remote laptop. This vi computes the distance between the multirotor and an obstacle and transmits depth data to an onboard flight controller through the MAVLink protocol. The algorithm efficiency was tested using the software in the loop on Gazebo simulator to analyze the performance of the UAV. The hardware in loop results are also shown in this paper after the successful flight test.https://bulletin.incas.ro/files/demiannay_besnier_thomas---vol_12_iss_3.pdfrobot operating system (ros)stereo visionobstacle avoidancelabviewunmanned aerial vehicle (uav)gazeboflight controller |
| spellingShingle | Nicolas DEMIANNAY Nicolas BESNIER Cris THOMAS Vikas THAPA Vindhya DEVALLA Amit Kumar MONDAL Design and Development of Multirotor UAV with Automatic Collision Avoidance using Stereo Camera INCAS Bulletin robot operating system (ros) stereo vision obstacle avoidance labview unmanned aerial vehicle (uav) gazebo flight controller |
| title | Design and Development of Multirotor UAV with Automatic Collision Avoidance using Stereo Camera |
| title_full | Design and Development of Multirotor UAV with Automatic Collision Avoidance using Stereo Camera |
| title_fullStr | Design and Development of Multirotor UAV with Automatic Collision Avoidance using Stereo Camera |
| title_full_unstemmed | Design and Development of Multirotor UAV with Automatic Collision Avoidance using Stereo Camera |
| title_short | Design and Development of Multirotor UAV with Automatic Collision Avoidance using Stereo Camera |
| title_sort | design and development of multirotor uav with automatic collision avoidance using stereo camera |
| topic | robot operating system (ros) stereo vision obstacle avoidance labview unmanned aerial vehicle (uav) gazebo flight controller |
| url | https://bulletin.incas.ro/files/demiannay_besnier_thomas---vol_12_iss_3.pdf |
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