Obstacle avoidance for micro quadrotor based on optical flow

In recent years, UAV has attracted a lot of attention and is being used widely. However, in order to complete missions successfully, the ability to sense and avoid obstacles is essential for UAV. In this paper, a method for micro quadrotor to detect obstacles based on optical flow is proposed. Based on the ROS framework, a controller is developed to avoid the detected obstacles and is successfully experienced on the Ar.Drone. Experiments show that the proposed method is robust and effective for micro quadrotor to avoid obstacles.

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