Real-time collision avoidance control of quadrotor using ellipsoid as a bounding box
Jongho Park, Youdan Kim · 2016
A real-time collision avoidance control algorithm for a quadrotor using an ellipsoid as a bounding box is proposed. Depth map of stereo vision is used to collect obstacle information in real time. Lowner-John ellipsoid is obtained by solving a convex optimization problem. And, a collision cone is computed using an affine transformation to establish a collision condition. Finally, a numerical simulation is performed to demonstrate the performance of the proposed collision avoidance algorithm.