@inproceedings{b302410f3b7c456789b9a591ba32e800,
title = "Optical flow based obstacle avoidance for multi-rotor aerial vehicles",
abstract = "The miniaturization of multi-rotor aerial vehicles (MAVs) poses challenges to autonomous navigation. Cameras are preferred due to the limited payload of MAVs. In this paper, we present an optical flow (OF)-based approach for obstacle avoidance in indoor environments with a payload constrained MAV. Our approach mainly utilizes Time-To-Contact (TTC) and balance strategy (BS), two basic principles demonstrated effectively in many different obstacle avoidance systems. Free spaces through which a MAV can fly are estimated by TTC. BS is used to guide a MAV flying in a collision free path. Our approach is implemented in the framework of Robot Operating System (ROS). The simulation demonstrates the effectiveness of the approach.",
keywords = "Balance strategy, MAVs, Obstacle avoidance, Optical flow, Time to Contact",
author = "Ruijuan Chang and Rong Ding and Mengxiang Lin",
note = "Publisher Copyright: {\textcopyright} 2017 IEEE.; 29th IEEE International Conference on Tools with Artificial Intelligence, ICTAI 2017 ; Conference date: 06-11-2017 Through 08-11-2017",
year = "2017",
month = jul,
day = "2",
doi = "10.1109/ICTAI.2017.00092",
language = "英语",
series = "Proceedings - International Conference on Tools with Artificial Intelligence, ICTAI",
publisher = "IEEE Computer Society",
pages = "574--578",
booktitle = "Proceedings - 2017 International Conference on Tools with Artificial Intelligence, ICTAI 2017",
address = "美国",
}