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Obstacle Avoidance for Flight Safety on Unmanned Aerial Vehicles

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Advances in Computational Intelligence (IWANN 2017)

Part of the book series: Lecture Notes in Computer Science ((LNTCS,volume 10306))

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Abstract

In this paper, we propose an obstacle avoidance system for UAVs using a monocular camera. For detecting obstacles, the 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, with a defined obstacle as target. The system was tested in real-time on a micro aerial vehicle (MAV), to detect and avoid obstacles on unknown environment, and compared with related works.

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Acknowledgement

This work is part of the projects VisualNavDrone 2016-PIC-024 and MultiNavCar 2016-PIC-025, from the Universidad de las Fuerzas Armadas ESPE, directed by Dr. Wilbert G. Aguilar.

Author information

Authors and Affiliations

  1. Dep. Seguridad y Defensa, Universidad de las Fuerzas Armadas ESPE, Sangolquí, Ecuador

    Wilbert G. Aguilar & Hugo Ruiz

  2. CICTE Research Center, Universidad de las Fuerzas Armadas ESPE, Sangolquí, Ecuador

    Wilbert G. Aguilar, Verónica P. Casaliglla & José L. Pólit

  3. GREC Research Group, Universitat Politècnica de Catalunya, Barcelona, Spain

    Wilbert G. Aguilar

  4. Universitat de Barcelona, Barcelona, Spain

    Vanessa Abad

  5. PLM Research Center, Purdue University, West Lafayette, IN, USA

    Hugo Ruiz

Authors
  1. Wilbert G. Aguilar
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  2. Verónica P. Casaliglla
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  3. José L. Pólit
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  4. Vanessa Abad
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  5. Hugo Ruiz
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Corresponding author

Correspondence to Wilbert G. Aguilar .

Editor information

Editors and Affiliations

  1. Universidad de Granada, Granada, Spain

    Ignacio Rojas

  2. University of Malaga, Malaga, Spain

    Gonzalo Joya

  3. Polytechnic University of Catalonia, Vilanova i la Geltrú, Barcelona, Spain

    Andreu Catala

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Aguilar, W.G., Casaliglla, V.P., Pólit, J.L., Abad, V., Ruiz, H. (2017). Obstacle Avoidance for Flight Safety on Unmanned Aerial Vehicles. In: Rojas, I., Joya, G., Catala, A. (eds) Advances in Computational Intelligence. IWANN 2017. Lecture Notes in Computer Science(), vol 10306. Springer, Cham. https://doi.org/10.1007/978-3-319-59147-6_49

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  • DOI: https://doi.org/10.1007/978-3-319-59147-6_49

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-59146-9

  • Online ISBN: 978-3-319-59147-6

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