2018 | OriginalPaper | Buchkapitel
Optical Flow Based Obstacle Avoidance and Path Planning for Quadrotor Flight
Abstract
In this paper, we implement a local path planning method for quadrotor vehicle. The visual potential is utilized to guide the vehicle which is built by gradient vectors and TTC information of obstacles obtained through optical flow. Compared to traditional method, our method is more general and lower computational for calculating visual potential. Using the visual potential, the quadrotor vehicle dynamically determines the yaw angle and autonomously generates a collision free path to the destination via a PID controller operating as the dynamic control scheme without any prior knowledge or environmental maps of the workspace. The experiments carried out in virtual environments show the better feasibility of our technique for path planning.