Obstacle Avoidance System For A Quadrotor UAV Using Over Head Mounted Camera, Based On Image Processing Technique
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Date
2018
Journal Title
Journal ISSN
Volume Title
Publisher
Uva Wellassa University of Sri Lanka
Abstract
An obstacle avoidance system for a Quadrotor UAV using overhead mounted camera
is based on image processing technique. Current robots use various sensors to obtain
the locations of obstacles and navigate without colliding. Here, the robot uses an
overhead camera to detect obstacles for safe navigation. For this method, the robot
does not need to use any additional sensors to detect obstacles. Here, the method uses
an image processing technique. The images from overhead web camera are converted
to grayscale images and filtered to remove noise and then converted to black and
white binary images by using MATLAB software package. Then, objects in the
images are identified and centroids are drawn, and a square is drawn around the robot
to distinguish in-between. Thereafter, the pixel location of each object is taken from
the centroid pixel location and the area of the object is also taken into the algorithm.
The navigation is done with the aid of the "depth first search" algorithm. It uses the
location of the robot to navigate to the desired node in the image binary matrix. The
results of this project were successful. Navigation of a mobile robot using overhead
mounted single camera without using additional sensors were done successfully. For
Quadrotor, this algorithm was simulated on Robotic Operating System and Dronekit
Simulation platform. These platforms were built on Ubuntu operating System and a
Python script was used to connect the MATLAB program. Simulation successfully
detected the obstacles and had a safe navigation. The conclusion of the research is
that, this method is suitable for applying for any mobile robot for a specific range and
the method can be used for Quadrotor by defining same parameters as for the mobile
robot.
Keywords: Obstacle Detection, Quadrotor, Image Processing, MATLAB, Dronekit
Description
Keywords
Information System, Computer Science