Regresar

Obstacle Detection Algorithm by Means of Images with a ZED Camera Using ROS Software in a Drone

Abstract:

During flight conditions, Unmanned Air Vehicles (UAVs) can be in situations of high risk such as encountering unforeseen obstacles, thus resulting in physical damage of the device and its equipment. For this reason, an intelligent pilot system that allows the detection and evasion of obstacles is necessary for UAVs, protecting the integrity of the system without compromising the mission or the established flight plan. To implement this intelligent pilot system, a fundamental element was used, a ZED camera that acts in a similar way to people’s eyes and is integrated with ROS software for depth detection through an obstacle algorithm. The interest of this research is focused on the obstacle detection algorithm using a stereoscopic camera capable of creating 3D images and software that contributes to develop applications for robots and research platforms. Once the detection algorithm was implemented, it was tested in two specific stages, the first stage was established to find the optimum detection distance through the establishment of distance ranges and a second stage included controlled and uncontrolled environments in order to carry out the algorithm validation.