영상처리와 센서를 이용한 드론의 실내 장애물 인식 알고리즘 연구

Abstract

In this paper, we proposed and tested an indoor obstacle recognition and avoidance algorithm using vision and ultrasonic sensors for effective operation of drone with low-power. In this paper, the indoor flight of a drone is mainly composed of two algorithms. First, for the indoor flight of the drone, the vanishing point and the center point of the image were extracted through Hough transform of the input image of the vision sensor. The drone moves along the extracted vanishing point. Second, we set an area of interest so that the drone can avoid obstacles. The area of interest is a space where the drone can fly after recognizing an obstacle at a distance from the ultrasonic sensor. When an obstacle is recognized in the drone's area of ​​interest, the drone performs an obstacle avoidance action. To verify the algorithm proposed in this paper, a simple obstacle was installed in an indoor environment and the drone was flown. From the experimental results, the proposed algorithm confirmed the indoor flight and obstacle avoidance behavior of the drone according to the vanishing point.