Dong-Wan Yoo/Dae-Yeon Won/Min-Jea Tahk
International Journal of Aeronautical and Space Sicences, vol. 12, no. 3, pp.252-259, 2011

Abstract : This paper is focused on dynamic modeling and control system design as well as the vision based collision avoidance for Multi-Rotor UAVs. Multi-Rotor UAVs are defined as the rotary-winged unmanned aerial vehicles with multiple number of rotors. These Multi-Rotor UAVs can be utilized in various military situations such as surveillance and reconnaissance. Also, Multi-Rotor UAVs can be used in obtaining visual information from steep terrains or disastrous sites. In this paper, Quad-Rotor model is introduced as well as its control system, which is designed based on PID controller and vision-based collision avoidance control system. Additionally, in order for a UAV to navigate safely in areas such as buildings and offices with number of obstacles, there must be an collision avoidance algorithm installed in UAV’s hardware, which should include detection of the obstacle, avoidance maneuver, etc. In this paper, Optical Flow method, one of the vision-based collision avoidance techniques, is introduced, and Multi-Rotor UAV’s collision avoidance simulations are conducted in various virtual environments in order to guarantee its avoidance performance.

Keyword : Collision Avoidance, Optical Flow, Multi-Rotor UAV, Quad-Rotor, Balance Strategy