Embedded Laser Vision System for Indoor Aerial Autonomous Navigation

Authors:
Guillaume Sanahuja;Pedro Castillo
Affiliations:
Laboratoire Heudiasyc, UMR 7253, Université de Technologie de Compiègne, Compiègne, France 60200;Laboratoire Heudiasyc, UMR 7253, Université de Technologie de Compiègne, Compiègne, France 60200
Venue:
Journal of Intelligent and Robotic Systems
Year:
2013

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Abstract

An embedded laser vision system for indoor autonomous navigation of an Unmanned Aerial Vehicle (UAV) is presented. The vision system is composed of a camera, a classical laser line and vision algorithms and it estimates its distance and its heading with respect to a wall placed in front of the camera frame. The image processing is executed onboard and the obtained measures are sent to the microprocessor to compute the control algorithms. A flight simulator is developed in order to validate the control strategy. Additionally, flight tests are carried out in order to prove the efficiency of the closed-loop system.