An Optical Flow based Tunnel Navigation Algorithm for a Flying Robot
Hang Li, Andrey V. Savkin · 2018
In this paper, we propose an optical flow based tunnel navigation algorithm. In the proposed algorithm, we consider an under-actuated non-holonomic flying robot equipped with a visual camera. The main idea of this algorithm is to use the changes of the optical flow field over time to estimate the deviation of the robot's heading from the tunnel axis. The main advantage of the proposed method is that the sensor we considered is only a visual camera, which is more economical and easier to apply in flying robots. The presented computer simulation confirms the performance of the proposed algorithm.