Visual Path Following Method for Quadrotors Based on Structured Edge Detection
Liuyi Fan, Jizhou Lai, Pin Lyu, Cheng Yuan · 2018 IEEE CSAA Guidance, Navigation and Control Conference (CGNCC) · 2018
Complexities of Quadrotors flight tasks have increased significantly in recent years, thereby calling for navigation method that is more intelligent. This paper proposes a visual path following navigation method base on structured edge detection for Quadrotors. A detection method for structured edge features (such as the road edge) is studied and the relative position between the Quadrotor and the environment is estimated. The navigation scheme is designed so the Quadrotor can follow the environmental structured edge autonomously. The flight verification system is established using the DJI Matrix 100 and DJI Guidance. The flight experimental results verify the feasibility of the proposed navigation method.