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- Title
Real-Time Visual Feedback Control of Multi-Camera UAV.
- Authors
He, Dongqing; Chuang, Hsiu-Min; Chen, Jinyu; Li, Jinwei; Namiki, Akio
- Abstract
Recently, flight control of unmanned aerial vehicles (UAVs) in non-global positioning system (GPS) environments has become increasingly important. In such an environment, visual sensors are important, and their main roles are self-localization and obstacle avoidance. In this paper, the concept of a multi-camera UAV system with multiple cameras attached to the body is proposed to realize high-precision omnidirectional visual recognition, self-localization, and obstacle avoidance simultaneously, and a two-camera UAV is developed as a prototype. The proposed flight control system can switch between visual servoing (VS) for collision avoidance and visual odometry (VO) for self-localization. The feasibility of the proposed control system was verified by conducting flight experiments with the insertion of obstacles.
- Subjects
DRONE aircraft; FLIGHT control systems; GLOBAL Positioning System; AUTONOMOUS vehicles; IMAGE transmission
- Publication
Journal of Robotics & Mechatronics, 2021, Vol 33, Issue 2, p263
- ISSN
0915-3942
- Publication type
Article
- DOI
10.20965/jrm.2021.p0263