Obstacle Avoidance Algorithm for Indoor Autonomous Drone Using IR Sensor and Forward Image Information
Hyuk‐Jin Lee, Sung Soo Hwang · Journal of Institute of Control Robotics and Systems · 2017
This paper presents an obstacle avoidance algorithm for an unmanned aerial vehicle (UAV) driving in indoor environments. The proposed algorithm utilizes an IR sensor and a front camera to detect and estimate an obstacle. The algorithm first estimates a distance between a UAV and an obstacle using an IR sensor. If an obstacle is located within a certain distance, the contour of the obstacle is extracted by the marker-controlled Watershed algorithm. Thereafter, a UAV recognizes the location of the obstacle and determines an adequate route. The proposed algorithm was verified by several examples, including colored-papers and pedestrians. Experimental results show that an obstacle is recognized well and the UAV can avoid the obstacle efficiently.