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Obstacle Avoidance for Low-Cost UAVs

Abstract:

The goal of our work is an obstacle avoidance system for MAVs using only a monocular camera. The proposed system detects obstacles in real-time from the micro aerial vehicle (MAV) and compares with the stored images in a database, if there is a match acts the control law to avoid it. Our proposal includes the feature point detector Speeded Up Robust Features (SURF) for fast processing of obstacles, also we implemented a control law to avoid it. The results of our system were tested in real time on a commercial low-cost MAV, it was able to detect and avoid an obstacle on unknown positions and complete the path. We check our algorithm on many successful flight experiments.