Obstacle Detection and Path Planning Based On Monocular Vision for Unmanned Aerial Vehicles
Changfeng Li, Xuefang Xie, Fei Luo · 2019
This article mainly introduces the algorithm design and simulation process of unmanned aerial vehicle obstacle detection and path planning based on monocular vision. In this article, we will first explain the basics of image processing, with focus on the design algorithms and the operations and principles that will be used in simulation experiments in the second half of the article. The subject is the obstacle detection and path planning of drones, so the article divides this topic into two sub-topics. Subtask 1 focuses on solving obstacle detection problems for drones. This paper will use the method of contour detection. Subtask 2 focuses on solving the problem of path planning after unmanned aerial vehicles detect obstacles. This paper uses A* path search algorithm. The simulation results show that the algorithm has a good degree of completion, and all the materials used can basically avoid obstacles accurately and plan the relatively safe and shortest optimal path.