Authors
Laurent Muratet, Stephane Doncieux, Yves Briere, Jean-Arcady Meyer
Publication date
2005/3/31
Journal
Robotics and Autonomous Systems
Volume
50
Issue
4
Pages
195-209
Publisher
North-Holland
Description
A navigation strategy that exploits the optic flow and inertial information to continuously avoid collisions with both lateral and frontal obstacles has been used to control a simulated helicopter flying autonomously in a textured urban environment. Experimental results demonstrate that the corresponding controller generates cautious behavior, whereby the helicopter tends to stay in the middle of narrow corridors, while its forward velocity is automatically reduced when the obstacle density increases. When confronted with a frontal obstacle, the controller is also able to generate a tight U-turn that ensures the UAV’s survival. The paper provides comparisons with related work, and discusses the applicability of the approach to real platforms.
Total citations
Scholar articles
L Muratet, S Doncieux, Y Briere, JA Meyer - Robotics and Autonomous Systems, 2005