کد مقاله | کد نشریه | سال انتشار | مقاله انگلیسی | نسخه تمام متن |
---|---|---|---|---|
732870 | 893274 | 2011 | 13 صفحه PDF | دانلود رایگان |
This paper addresses the problem of autonomously maneuvering a miniature air vehicle (MAV) to follow a road using computer vision as the primary guidance sensor. We focus on low-altitude flight with the objective of maximizing the pixel density of the road in the image. The airframe is assumed to be a bank-to-turn fixed-wing MAV with a downward-looking strap-down camera. The road is identified in the image using HSV classification, flood-fill operations, and connected-component analysis. The main contribution of the paper is the derivation of explicit roll-angle and altitude-above-ground-level (AGL) constraints that guarantee that the road will remain in the footprint of the camera, assuming a flat earth. The effectiveness of our approach is demonstrated through high fidelity simulation and through flight results.
Research highlights
► Roll angle constraints for vision based road following.
► Vision based guidance for small and miniature air vehicles.
Journal: Mechatronics - Volume 21, Issue 5, August 2011, Pages 831–843