적외선 센서와 전방 영상 정보를 이용한 실내 자율주행 무인 비행체의 장애물 회피 방법

다국어 초록 (Multilingual Abstract)

This paper presents an obstacle avoidance algorithm for an unmanned aerial vehicle (UAV) driving in indoor environments. The proposed algorithm utilizes an IR sensor and a front camera to detect and estimate an obstacle. The algorithm first estimates a distance between a UAV and an obstacle using an IR sensor. If an obstacle is located within a certain distance, the contour of the obstacle is extracted by the marker-controlled Watershed algorithm. Thereafter, a UAV recognizes the location of the obstacle and determines an adequate route. The proposed algorithm was verified by several examples, including colored-papers and pedestrians. Experimental results show that an obstacle is recognized well and the UAV can avoid the obstacle efficiently.

목차 (Table of Contents)

• Abstract
• I. 서론
• II. 관련연구
• Ⅲ. 제안 시스템
• Ⅳ. 실험결과
• Ⅴ. 결론
• REFERENCES

참고문헌 (Reference)

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