Optic-Flow-Based Collision Avoidance
- 31 March 2008
- journal article
- Published by Institute of Electrical and Electronics Engineers (IEEE) in IEEE Robotics & Automation Magazine
- Vol. 15 (1), 96-103
- https://doi.org/10.1109/mra.2008.919023
Abstract
Flying in and around caves, tunnels, and buildings demands more than one sensing modality. This article presented an optic-flow- based approach inspired by flying insects for avoiding lateral collisions. However, there were a few real-world scenarios in which optic flow sensing failed. This occurred when obstacles on approach were directly in front of the aircraft. Here, a simple sonar or infrared sensor can be used to trigger a quick transition into the hovering mode to avoid the otherwise fatal collision. Toward this end, we have demonstrated a fixed-wing prototype capable of manually transitioning from conventional cruise flight into the hovering mode. The prototype was then equipped with an IMU and a flight control system to automate the hovering process. The next step in this research is to automate the transition from cruise to hover flight.Keywords
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