Stereo vision based collision avoidance of quadrotor UAV

In this paper, collision avoidance of a quadrotor unmanned aerial vehicle using stereo vision sensor is proposed. Quadrotor dynamic modeling is performed, and under-actuated problem of the quadrotor is dealt by introducing virtual inputs. Waypoint guidance and controller are designed using feedback linearization and linear quadratic tracker. Stereo vision is used to acquire depth map, and an obstacle is detected by the computed depth map. Then, collision cone approach is adopted to perform collision avoidance. Numerical simulation is performed to validate the performance of the collision avoidance algorithm.