Obstacle Avoidance Methods in UAVs

Detalhes bibliográficos
Autor(a) principal: Khan, Zubair Ahmed
Data de Publicação: 2019
Tipo de documento: Dissertação
Idioma: eng
Título da fonte: Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos)
Texto Completo: http://hdl.handle.net/10400.22/14269
Resumo: We contributed a method for avoiding obstacles using monocular vision as the only sensor in UAV (Unmaned Aerial vehicle). The vision based ROS (Robotic operating system) node detects the known obstacles in front of the UAV. Unknown obstacles can be taken care of by adding he information of all the obstacles seen in the scene to a map. The distance to obstacle in this research is calculated by just increasing size of the obstacle in front of the UAV. The image processing libraries were used from OpenCV to do thresholding, noise removal and contours detection. This research also tests and evaluate the path planning of UAV using MoveIt architecture, and evaluates the different results obtained.Hence we show the effectiveness of the monocular vision and size as a constraint algorithm in UAVs to detect and avoid frontal obstacles.
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spelling Obstacle Avoidance Methods in UAVsROSUAVOpenCVMoveItThresholdingContoursMonocular visionSistemas AutónomosWe contributed a method for avoiding obstacles using monocular vision as the only sensor in UAV (Unmaned Aerial vehicle). The vision based ROS (Robotic operating system) node detects the known obstacles in front of the UAV. Unknown obstacles can be taken care of by adding he information of all the obstacles seen in the scene to a map. The distance to obstacle in this research is calculated by just increasing size of the obstacle in front of the UAV. The image processing libraries were used from OpenCV to do thresholding, noise removal and contours detection. This research also tests and evaluate the path planning of UAV using MoveIt architecture, and evaluates the different results obtained.Hence we show the effectiveness of the monocular vision and size as a constraint algorithm in UAVs to detect and avoid frontal obstacles.Dias, André Miguel PinheiroRepositório Científico do Instituto Politécnico do PortoKhan, Zubair Ahmed2019-07-04T14:10:27Z20192019-01-01T00:00:00Zinfo:eu-repo/semantics/publishedVersioninfo:eu-repo/semantics/masterThesisapplication/pdfhttp://hdl.handle.net/10400.22/14269TID:202259803enginfo:eu-repo/semantics/openAccessreponame:Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos)instname:Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informaçãoinstacron:RCAAP2023-03-13T12:57:03Zoai:recipp.ipp.pt:10400.22/14269Portal AgregadorONGhttps://www.rcaap.pt/oai/openaireopendoar:71602024-03-19T17:34:05.676668Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) - Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informaçãofalse
dc.title.none.fl_str_mv Obstacle Avoidance Methods in UAVs
title Obstacle Avoidance Methods in UAVs
spellingShingle Obstacle Avoidance Methods in UAVs
Khan, Zubair Ahmed
ROS
UAV
OpenCV
MoveIt
Thresholding
Contours
Monocular vision
Sistemas Autónomos
title_short Obstacle Avoidance Methods in UAVs
title_full Obstacle Avoidance Methods in UAVs
title_fullStr Obstacle Avoidance Methods in UAVs
title_full_unstemmed Obstacle Avoidance Methods in UAVs
title_sort Obstacle Avoidance Methods in UAVs
author Khan, Zubair Ahmed
author_facet Khan, Zubair Ahmed
author_role author
dc.contributor.none.fl_str_mv Dias, André Miguel Pinheiro
Repositório Científico do Instituto Politécnico do Porto
dc.contributor.author.fl_str_mv Khan, Zubair Ahmed
dc.subject.por.fl_str_mv ROS
UAV
OpenCV
MoveIt
Thresholding
Contours
Monocular vision
Sistemas Autónomos
topic ROS
UAV
OpenCV
MoveIt
Thresholding
Contours
Monocular vision
Sistemas Autónomos
description We contributed a method for avoiding obstacles using monocular vision as the only sensor in UAV (Unmaned Aerial vehicle). The vision based ROS (Robotic operating system) node detects the known obstacles in front of the UAV. Unknown obstacles can be taken care of by adding he information of all the obstacles seen in the scene to a map. The distance to obstacle in this research is calculated by just increasing size of the obstacle in front of the UAV. The image processing libraries were used from OpenCV to do thresholding, noise removal and contours detection. This research also tests and evaluate the path planning of UAV using MoveIt architecture, and evaluates the different results obtained.Hence we show the effectiveness of the monocular vision and size as a constraint algorithm in UAVs to detect and avoid frontal obstacles.
publishDate 2019
dc.date.none.fl_str_mv 2019-07-04T14:10:27Z
2019
2019-01-01T00:00:00Z
dc.type.status.fl_str_mv info:eu-repo/semantics/publishedVersion
dc.type.driver.fl_str_mv info:eu-repo/semantics/masterThesis
format masterThesis
status_str publishedVersion
dc.identifier.uri.fl_str_mv http://hdl.handle.net/10400.22/14269
TID:202259803
url http://hdl.handle.net/10400.22/14269
identifier_str_mv TID:202259803
dc.language.iso.fl_str_mv eng
language eng
dc.rights.driver.fl_str_mv info:eu-repo/semantics/openAccess
eu_rights_str_mv openAccess
dc.format.none.fl_str_mv application/pdf
dc.source.none.fl_str_mv reponame:Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos)
instname:Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informação
instacron:RCAAP
instname_str Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informação
instacron_str RCAAP
institution RCAAP
reponame_str Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos)
collection Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos)
repository.name.fl_str_mv Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) - Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informação
repository.mail.fl_str_mv
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