High-speed autonomous obstacle avoidance with pushbroom stereo
Name
953414668-MIT.pdf
Description
Full printable version
Size
14.99 MB
Format
Adobe PDF
Checksum (MD5)
e0a317b2e7bd277ef203bd0502bd0c08
Author(s)
Barry, Andrew J. (Andrew James)
Advisor(s)
Russ Tedrake.
Date Issued
2016
Publisher
Massachusetts Institute of Technology
Abstract
This thesis presents the design and implementation of a small autonomous unmanned aerial vehicle capable of high-speed flight through complex natural environments. Using only onboard sensing and computation, we perform obstacle detection, planning, and feedback control in realtime. We introduce a novel stereo vision algorithm, pushbroom stereo, capable of detecting obstacles at 120 frames per second without overburdening our lightweight processors. Our use of model-based planning and control techniques allows us to track precise trajectories that avoid obstacles identified by the vision system. We demonstrate a complete working system avoiding trees at up to 14 m/s (31 MPH). To the best of our knowledge this is the fastest lightweight aerial vehicle to perform collision avoidance in such a complex environment.
Description
Thesis: Ph. D., Massachusetts Institute of Technology, Department of Electrical Engineering and Computer Science, 2016.
Cataloged from PDF version of thesis.
Includes bibliographical references (pages 115-127).
Subjects
Electrical Engineering and Computer Science.
MIT Department
Massachusetts Institute of Technology. Department of Electrical Engineering and Computer Science
Terms of Use
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