Center of View based Guidance Angles for Collision-Free Autonomous Flight of UAV
Kamal Sandeep Karreddula, Alok Kanti Deb · 2021
Obstacle avoidance is essential for autonomous vehicles to perform desired tasks. In this paper, guidance angles have been generated using the proposed algorithm for unmanned aerial vehicles (UAVs) to avoid collision with obstacles in 2D and 3D flights. Horn – Schunck’s (HS) method has been used for computing the optical flow (OF) data from sequence of images to generate guidance angles using the algorithm. These guidance angles have been compared with the existing method. A simulation study on the algorithm has been carried out in different environments created by using Virtual Reality Modeling Language (VRML) toolbox in MATLAB. Performance of the proposed algorithm has been highlighted using Graphical flight path analysis.